diff --git a/universal_robot/package.xml b/universal_robot/package.xml
index 15640f0e88d52be70b43affcba9c2562c7107445..e9b470d59a045c2be298da0f077e0649a6a43552 100644
--- a/universal_robot/package.xml
+++ b/universal_robot/package.xml
@@ -24,6 +24,7 @@
<run_depend>ur_driver</run_depend>
<run_depend>ur_gazebo</run_depend>
<run_depend>ur_kinematics</run_depend>
+ <run_depend>ur_msgs</run_depend>
<export>
<metapackage/>
diff --git a/ur10_moveit_config/.setup_assistant b/ur10_moveit_config/.setup_assistant
index 026a76bc594333c47ad87c4c1a5fe7b0ade1a185..9129e624cd4cba038e454dd481e2c9369f57d787 100644
--- a/ur10_moveit_config/.setup_assistant
+++ b/ur10_moveit_config/.setup_assistant
@@ -5,4 +5,4 @@ moveit_setup_assistant_config:
SRDF:
relative_path: config/ur10.srdf
CONFIG:
- generated_timestamp: 1409148189
\ No newline at end of file
+ generated_timestamp: 1413893323
\ No newline at end of file
diff --git a/ur10_moveit_config/config/fake_controllers.yaml b/ur10_moveit_config/config/fake_controllers.yaml
index a7300cf485a5f356bb99212771262be2e80911a0..5e24f945159e712dd79a50a75d5986c317669474 100644
--- a/ur10_moveit_config/config/fake_controllers.yaml
+++ b/ur10_moveit_config/config/fake_controllers.yaml
@@ -6,4 +6,7 @@ controller_list:
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- - wrist_3_joint
\ No newline at end of file
+ - wrist_3_joint
+ - name: fake_endeffector_controller
+ joints:
+ []
\ No newline at end of file
diff --git a/ur10_moveit_config/config/kinematics.yaml b/ur10_moveit_config/config/kinematics.yaml
index 0ee1e5af01cbe20c2991f329208a723816cc2da6..c45b66490d2680c49880ae741d6378b9bdbd2562 100644
--- a/ur10_moveit_config/config/kinematics.yaml
+++ b/ur10_moveit_config/config/kinematics.yaml
@@ -1,10 +1,11 @@
-manipulator:
- kinematics_solver: ur_kinematics/UR10KinematicsPlugin
- kinematics_solver_search_resolution: 0.005
- kinematics_solver_timeout: 0.005
- kinematics_solver_attempts: 3
+## the UR10KinematicsPlugin only works with the unlimited UR10, i.e. limited:=false
#manipulator:
-# kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+# kinematics_solver: ur_kinematics/UR10KinematicsPlugin
# kinematics_solver_search_resolution: 0.005
# kinematics_solver_timeout: 0.005
-# kinematics_solver_attempts: 3
\ No newline at end of file
+# kinematics_solver_attempts: 3
+manipulator:
+ kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+ kinematics_solver_search_resolution: 0.005
+ kinematics_solver_timeout: 0.005
+ kinematics_solver_attempts: 3
\ No newline at end of file
diff --git a/ur10_moveit_config/config/ompl_planning.yaml b/ur10_moveit_config/config/ompl_planning.yaml
index d866c6a8b084ffbf5c702f81987cb345eb5845eb..6d2133f845494e5bdfd36bca616ebeab01db14a9 100644
--- a/ur10_moveit_config/config/ompl_planning.yaml
+++ b/ur10_moveit_config/config/ompl_planning.yaml
@@ -35,4 +35,17 @@ manipulator:
- PRMkConfigDefault
- PRMstarkConfigDefault
projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint)
- longest_valid_segment_fraction: 0.05
\ No newline at end of file
+ longest_valid_segment_fraction: 0.05
+endeffector:
+ planner_configs:
+ - SBLkConfigDefault
+ - ESTkConfigDefault
+ - LBKPIECEkConfigDefault
+ - BKPIECEkConfigDefault
+ - KPIECEkConfigDefault
+ - RRTkConfigDefault
+ - RRTConnectkConfigDefault
+ - RRTstarkConfigDefault
+ - TRRTkConfigDefault
+ - PRMkConfigDefault
+ - PRMstarkConfigDefault
\ No newline at end of file
diff --git a/ur10_moveit_config/config/ur10.srdf b/ur10_moveit_config/config/ur10.srdf
index d943a92ca160934284b24c390e83bf07b6db47ec..dc3b1b817d37c6a835d4dc202fe953be2c0ffe37 100644
--- a/ur10_moveit_config/config/ur10.srdf
+++ b/ur10_moveit_config/config/ur10.srdf
@@ -37,16 +37,17 @@
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="fixed_base" type="fixed" parent_frame="world" child_link="base_link" />
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
- <disable_collisions link1="base_link" link2="forearm_link" reason="Never" />
<disable_collisions link1="base_link" link2="shoulder_link" reason="Adjacent" />
<disable_collisions link1="base_link" link2="upper_arm_link" reason="Never" />
- <disable_collisions link1="forearm_link" link2="shoulder_link" reason="Never" />
+ <disable_collisions link1="base_link" link2="wrist_1_link" reason="Never" />
+ <disable_collisions link1="ee_link" link2="wrist_1_link" reason="Never" />
+ <disable_collisions link1="ee_link" link2="wrist_2_link" reason="Never" />
+ <disable_collisions link1="ee_link" link2="wrist_3_link" reason="Adjacent" />
<disable_collisions link1="forearm_link" link2="upper_arm_link" reason="Adjacent" />
<disable_collisions link1="forearm_link" link2="wrist_1_link" reason="Adjacent" />
- <disable_collisions link1="forearm_link" link2="wrist_2_link" reason="Never" />
- <disable_collisions link1="forearm_link" link2="wrist_3_link" reason="Never" />
<disable_collisions link1="shoulder_link" link2="upper_arm_link" reason="Adjacent" />
- <disable_collisions link1="upper_arm_link" link2="wrist_1_link" reason="Never" />
+ <disable_collisions link1="shoulder_link" link2="wrist_1_link" reason="Never" />
+ <disable_collisions link1="shoulder_link" link2="wrist_2_link" reason="Never" />
<disable_collisions link1="wrist_1_link" link2="wrist_2_link" reason="Adjacent" />
<disable_collisions link1="wrist_1_link" link2="wrist_3_link" reason="Never" />
<disable_collisions link1="wrist_2_link" link2="wrist_3_link" reason="Adjacent" />
diff --git a/ur5_moveit_config/.setup_assistant b/ur5_moveit_config/.setup_assistant
index 0a983ecc22b7103e872b28242ebe99b26176e18c..fccc0b629fc14031003dae6f421792c5a5faf7bb 100644
--- a/ur5_moveit_config/.setup_assistant
+++ b/ur5_moveit_config/.setup_assistant
@@ -5,4 +5,4 @@ moveit_setup_assistant_config:
SRDF:
relative_path: config/ur5.srdf
CONFIG:
- generated_timestamp: 1409142284
\ No newline at end of file
+ generated_timestamp: 1413877529
\ No newline at end of file
diff --git a/ur5_moveit_config/config/fake_controllers.yaml b/ur5_moveit_config/config/fake_controllers.yaml
index a7300cf485a5f356bb99212771262be2e80911a0..5e24f945159e712dd79a50a75d5986c317669474 100644
--- a/ur5_moveit_config/config/fake_controllers.yaml
+++ b/ur5_moveit_config/config/fake_controllers.yaml
@@ -6,4 +6,7 @@ controller_list:
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- - wrist_3_joint
\ No newline at end of file
+ - wrist_3_joint
+ - name: fake_endeffector_controller
+ joints:
+ []
\ No newline at end of file
diff --git a/ur5_moveit_config/config/kinematics.yaml b/ur5_moveit_config/config/kinematics.yaml
index 5ed94f2a4df1df20ed143f9a9b2b3b9c2d15493e..7b3d7afd72ec2944eb9beb5aa306bfe9c37e8212 100644
--- a/ur5_moveit_config/config/kinematics.yaml
+++ b/ur5_moveit_config/config/kinematics.yaml
@@ -1,10 +1,11 @@
-manipulator:
- kinematics_solver: ur_kinematics/UR5KinematicsPlugin
- kinematics_solver_search_resolution: 0.005
- kinematics_solver_timeout: 0.005
- kinematics_solver_attempts: 3
+## the UR5KinematicsPlugin only works with the unlimited UR5, i.e. limited:=false
#manipulator:
-# kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+# kinematics_solver: ur_kinematics/UR5KinematicsPlugin
# kinematics_solver_search_resolution: 0.005
# kinematics_solver_timeout: 0.005
-# kinematics_solver_attempts: 3
\ No newline at end of file
+# kinematics_solver_attempts: 3
+manipulator:
+ kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+ kinematics_solver_search_resolution: 0.005
+ kinematics_solver_timeout: 0.005
+ kinematics_solver_attempts: 3
\ No newline at end of file
diff --git a/ur5_moveit_config/config/ompl_planning.yaml b/ur5_moveit_config/config/ompl_planning.yaml
index d866c6a8b084ffbf5c702f81987cb345eb5845eb..6d2133f845494e5bdfd36bca616ebeab01db14a9 100644
--- a/ur5_moveit_config/config/ompl_planning.yaml
+++ b/ur5_moveit_config/config/ompl_planning.yaml
@@ -35,4 +35,17 @@ manipulator:
- PRMkConfigDefault
- PRMstarkConfigDefault
projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint)
- longest_valid_segment_fraction: 0.05
\ No newline at end of file
+ longest_valid_segment_fraction: 0.05
+endeffector:
+ planner_configs:
+ - SBLkConfigDefault
+ - ESTkConfigDefault
+ - LBKPIECEkConfigDefault
+ - BKPIECEkConfigDefault
+ - KPIECEkConfigDefault
+ - RRTkConfigDefault
+ - RRTConnectkConfigDefault
+ - RRTstarkConfigDefault
+ - TRRTkConfigDefault
+ - PRMkConfigDefault
+ - PRMstarkConfigDefault
\ No newline at end of file
diff --git a/ur5_moveit_config/config/ur5.srdf b/ur5_moveit_config/config/ur5.srdf
index 9b6db329a015b288452bf5ad60b71bbfcb45379d..9b13cebea4ce7ee9bc8a6dc43372cc326e214557 100644
--- a/ur5_moveit_config/config/ur5.srdf
+++ b/ur5_moveit_config/config/ur5.srdf
@@ -10,10 +10,10 @@
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
<group name="manipulator">
- <chain base_link="base_link" tip_link="ee_link"/>
+ <chain base_link="base_link" tip_link="ee_link" />
</group>
<group name="endeffector">
- <link name="ee_link"/>
+ <link name="ee_link" />
</group>
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
<group_state name="home" group="manipulator">
@@ -37,16 +37,13 @@
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="fixed_base" type="fixed" parent_frame="world" child_link="base_link" />
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
- <disable_collisions link1="base_link" link2="forearm_link" reason="Never" />
<disable_collisions link1="base_link" link2="shoulder_link" reason="Adjacent" />
- <disable_collisions link1="base_link" link2="upper_arm_link" reason="Never" />
- <disable_collisions link1="forearm_link" link2="shoulder_link" reason="Never" />
+ <disable_collisions link1="ee_link" link2="wrist_1_link" reason="Never" />
+ <disable_collisions link1="ee_link" link2="wrist_2_link" reason="Never" />
+ <disable_collisions link1="ee_link" link2="wrist_3_link" reason="Adjacent" />
<disable_collisions link1="forearm_link" link2="upper_arm_link" reason="Adjacent" />
<disable_collisions link1="forearm_link" link2="wrist_1_link" reason="Adjacent" />
- <disable_collisions link1="forearm_link" link2="wrist_2_link" reason="Never" />
- <disable_collisions link1="forearm_link" link2="wrist_3_link" reason="Never" />
<disable_collisions link1="shoulder_link" link2="upper_arm_link" reason="Adjacent" />
- <disable_collisions link1="upper_arm_link" link2="wrist_1_link" reason="Never" />
<disable_collisions link1="wrist_1_link" link2="wrist_2_link" reason="Adjacent" />
<disable_collisions link1="wrist_1_link" link2="wrist_3_link" reason="Never" />
<disable_collisions link1="wrist_2_link" link2="wrist_3_link" reason="Adjacent" />
diff --git a/ur_bringup/launch/ur10_bringup.launch b/ur_bringup/launch/ur10_bringup.launch
index 445e0b3c89b57d8e47487a4cf6a98a9540a1d957..311bf5574ac1c7aed882b80515fdd579bb8d9ca8 100644
--- a/ur_bringup/launch/ur10_bringup.launch
+++ b/ur_bringup/launch/ur10_bringup.launch
@@ -12,6 +12,8 @@
<arg name="robot_ip"/>
<arg name="reverse_port" default="50001"/>
<arg name="limited" default="false"/>
+ <arg name="min_payload" default="0.0"/>
+ <arg name="max_payload" default="20.0"/>
<!-- robot model -->
<include file="$(find ur_description)/launch/ur10_upload.launch">
@@ -22,6 +24,8 @@
<include file="$(find ur_bringup)/launch/ur_common.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="reverse_port" value="$(arg reverse_port)"/>
+ <arg name="min_payload" value="$(arg min_payload)"/>
+ <arg name="max_payload" value="$(arg max_payload)"/>
</include>
</launch>
diff --git a/ur_bringup/launch/ur10_bringup_joint_limited.launch b/ur_bringup/launch/ur10_bringup_joint_limited.launch
index 9964be4721aedf94f28b74397175a07a70748a32..b95ce8c10cb7f2f750019a793315039254047eae 100644
--- a/ur_bringup/launch/ur10_bringup_joint_limited.launch
+++ b/ur_bringup/launch/ur10_bringup_joint_limited.launch
@@ -11,10 +11,14 @@
<!-- robot_ip: IP-address of the robot's socket-messaging server -->
<arg name="robot_ip"/>
<arg name="reverse_port" default="50001"/>
+ <arg name="min_payload" default="0.0"/>
+ <arg name="max_payload" default="20.0"/>
<include file="$(find ur_bringup)/launch/ur10_bringup.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="reverse_port" value="$(arg reverse_port)"/>
<arg name="limited" value="true"/>
+ <arg name="min_payload" value="$(arg min_payload)"/>
+ <arg name="max_payload" value="$(arg max_payload)"/>
</include>
</launch>
diff --git a/ur_bringup/launch/ur5_bringup.launch b/ur_bringup/launch/ur5_bringup.launch
index 6e2bfd7c273768f8a79bccf51dd0d85bb70198aa..52f7ebd67b5cb0f357127b9cd42fc2dc370aafad 100644
--- a/ur_bringup/launch/ur5_bringup.launch
+++ b/ur_bringup/launch/ur5_bringup.launch
@@ -12,6 +12,8 @@
<arg name="robot_ip"/>
<arg name="reverse_port" default="50001"/>
<arg name="limited" default="false"/>
+ <arg name="min_payload" default="0.0"/>
+ <arg name="max_payload" default="10.0"/>
<!-- robot model -->
<include file="$(find ur_description)/launch/ur5_upload.launch">
@@ -22,6 +24,8 @@
<include file="$(find ur_bringup)/launch/ur_common.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="reverse_port" value="$(arg reverse_port)"/>
+ <arg name="min_payload" value="$(arg min_payload)"/>
+ <arg name="max_payload" value="$(arg max_payload)"/>
</include>
</launch>
diff --git a/ur_bringup/launch/ur5_bringup_joint_limited.launch b/ur_bringup/launch/ur5_bringup_joint_limited.launch
index 4aa7a04f18170c11b7c4e367482cb8a238043df2..dfa7560e814601e4afd4f1e7ae134766e8460fe9 100644
--- a/ur_bringup/launch/ur5_bringup_joint_limited.launch
+++ b/ur_bringup/launch/ur5_bringup_joint_limited.launch
@@ -11,10 +11,14 @@
<!-- robot_ip: IP-address of the robot's socket-messaging server -->
<arg name="robot_ip"/>
<arg name="reverse_port" default="50001"/>
+ <arg name="min_payload" default="0.0"/>
+ <arg name="max_payload" default="10.0"/>
<include file="$(find ur_bringup)/launch/ur5_bringup.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="reverse_port" value="$(arg reverse_port)"/>
<arg name="limited" value="true"/>
+ <arg name="min_payload" value="$(arg min_payload)"/>
+ <arg name="max_payload" value="$(arg max_payload)"/>
</include>
</launch>
diff --git a/ur_bringup/launch/ur_common.launch b/ur_bringup/launch/ur_common.launch
index 73eff943c287cc956b03cf7941396005a67a09df..cd3b292caa6eb98df20ed788f474bc7fb31d47a1 100644
--- a/ur_bringup/launch/ur_common.launch
+++ b/ur_bringup/launch/ur_common.launch
@@ -13,6 +13,8 @@
<!-- robot_ip: IP-address of the robot's socket-messaging server -->
<arg name="robot_ip"/>
<arg name="reverse_port" default="50001"/>
+ <arg name="min_payload"/>
+ <arg name="max_payload"/>
<!-- copy the specified IP address to be consistant with ROS-Industrial spec.
NOTE: The ip address is actually passed to the driver on the command line -->
@@ -22,7 +24,10 @@
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<!-- driver -->
- <node name="ur_driver" pkg="ur_driver" type="driver.py" args="$(arg robot_ip) $(arg reverse_port)" output="screen" />
+ <node name="ur_driver" pkg="ur_driver" type="driver.py" args="$(arg robot_ip) $(arg reverse_port)" output="screen">
+ <param name="min_payload" type="double" value="$(arg min_payload)"/>
+ <param name="max_payload" type="double" value="$(arg max_payload)"/>
+ </node>
<!-- TF Buffer Server -->
<node pkg="tf2_ros" type="buffer_server" name="tf2_buffer_server">
diff --git a/ur_description/meshes/ur10/collision/Base.dae b/ur_description/meshes/ur10/collision/Base.dae
deleted file mode 100644
index dd46df53ae55a32944986227b19c15cfc72ed172..0000000000000000000000000000000000000000
--- a/ur_description/meshes/ur10/collision/Base.dae
+++ /dev/null
@@ -1,61 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
- <asset>
- <contributor>
- <author>Blender User</author>
- <authoring_tool>Blender 2.70.0 commit date:2014-04-10, commit time:11:49, hash:f93bc76</authoring_tool>
- </contributor>
- <created>2014-08-08T14:55:22</created>
- <modified>2014-08-08T14:55:22</modified>
- <unit name="meter" meter="1"/>
- <up_axis>Z_UP</up_axis>
- </asset>
- <library_images/>
- <library_geometries>
- <geometry id="shape0_018-mesh" name="shape0.018">
- <mesh>
- <source id="shape0_018-mesh-positions">
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- </geometry>
- </library_geometries>
- <library_controllers/>
- <library_visual_scenes>
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- <instance_geometry url="#shape0_018-mesh"/>
- </node>
- </visual_scene>
- </library_visual_scenes>
- <scene>
- <instance_visual_scene url="#Scene"/>
- </scene>
-</COLLADA>
\ No newline at end of file
diff --git a/ur_description/meshes/ur10/collision/Forearm.dae b/ur_description/meshes/ur10/collision/Forearm.dae
deleted file mode 100644
index a9c66846aca62c9cdeaf2f0dab2282680d4ccfce..0000000000000000000000000000000000000000
--- a/ur_description/meshes/ur10/collision/Forearm.dae
+++ /dev/null
@@ -1,61 +0,0 @@
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- <asset>
- <contributor>
- <author>Blender User</author>
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- </contributor>
- <created>2014-08-08T14:55:37</created>
- <modified>2014-08-08T14:55:37</modified>
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- </asset>
- <library_images/>
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\ No newline at end of file
diff --git a/ur_description/meshes/ur10/collision/Shoulder.dae b/ur_description/meshes/ur10/collision/Shoulder.dae
deleted file mode 100644
index 4337a732e9ee224fbc7966f876fdcf458075862b..0000000000000000000000000000000000000000
--- a/ur_description/meshes/ur10/collision/Shoulder.dae
+++ /dev/null
@@ -1,61 +0,0 @@
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- <author>Blender User</author>
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- </contributor>
- <created>2014-08-08T14:55:57</created>
- <modified>2014-08-08T14:55:57</modified>
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937 1957 935 1957 848 1957 940 1958 939 1958 938 1958 942 1959 941 1959 938 1959 938 1960 943 1960 942 1960 938 1961 944 1961 945 1961 947 1962 946 1962 938 1962 949 1963 948 1963 938 1963 951 1964 950 1964 938 1964 938 1965 952 1965 953 1965 955 1966 954 1966 938 1966 957 1967 956 1967 938 1967 945 1968 958 1968 938 1968 938 1969 959 1969 960 1969 938 1970 946 1970 961 1970 938 1971 962 1971 963 1971 938 1972 964 1972 965 1972 938 1973 953 1973 966 1973 943 1974 938 1974 967 1974 963 1975 968 1975 938 1975 941 1976 969 1976 938 1976 938 1977 970 1977 971 1977 973 1978 972 1978 938 1978 975 1979 974 1979 938 1979 977 1980 976 1980 938 1980 938 1981 956 1981 978 1981 938 1982 958 1982 979 1982 979 1983 952 1983 938 1983 938 1984 980 1984 957 1984 982 1985 981 1985 938 1985 938 1986 983 1986 951 1986 938 1987 965 1987 984 1987 971 1988 985 1988 938 1988 987 1989 986 1989 938 1989 938 1990 988 1990 955 1990 961 1991 962 1991 938 1991 938 1992 968 1992 989 1992 938 1993 990 1993 991 1993 978 1994 944 1994 938 1994 992 1995 982 1995 938 1995 994 1996 993 1996 938 1996 939 1997 995 1997 938 1997 938 1998 996 1998 990 1998 998 1999 997 1999 938 1999 1000 2000 999 2000 938 2000 938 2001 960 2001 947 2001 1002 2002 1001 2002 938 2002 938 2003 1003 2003 1004 2003 995 2004 1005 2004 938 2004 938 2005 954 2005 1006 2005 1007 2006 988 2006 938 2006 1008 2007 998 2007 938 2007 938 2008 948 2008 1007 2008 989 2009 980 2009 938 2009 938 2010 969 2010 992 2010 938 2011 981 2011 994 2011 938 2012 993 2012 1009 2012 1009 2013 983 2013 938 2013 938 2014 950 2014 975 2014 938 2015 1010 2015 940 2015 991 2016 1000 2016 938 2016 1006 2017 964 2017 938 2017 984 2018 996 2018 938 2018 938 2019 1011 2019 1010 2019 938 2020 999 2020 1012 2020 938 2021 985 2021 1008 2021 1013 2022 970 2022 938 2022 974 2023 959 2023 938 2023 1014 2024 1002 2024 938 2024 986 2025 1015 2025 938 2025 966 2026 1016 2026 938 2026 938 2027 976 2027 1013 2027 938 2028 997 2028 949 2028 1012 2029 1011 2029 938 2029 1016 2030 1017 2030 938 2030 1018 2031 1003 2031 938 2031 1019 2032 973 2032 938 2032 938 2033 1017 2033 977 2033 938 2034 1020 2034 1019 2034 938 2035 1001 2035 987 2035 938 2036 1021 2036 1020 2036 938 2037 972 2037 1018 2037 1005 2038 1021 2038 938 2038 938 2039 1015 2039 967 2039</p>
- </polylist>
- </mesh>
- </geometry>
- </library_geometries>
- <library_controllers/>
- <library_visual_scenes>
- <visual_scene id="Scene" name="Scene">
- <node id="node" name="node" type="NODE">
- <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
- <instance_geometry url="#shape0_020-mesh"/>
- </node>
- </visual_scene>
- </library_visual_scenes>
- <scene>
- <instance_visual_scene url="#Scene"/>
- </scene>
-</COLLADA>
\ No newline at end of file
diff --git a/ur_description/meshes/ur10/collision/UpperArm.dae b/ur_description/meshes/ur10/collision/UpperArm.dae
deleted file mode 100644
index 93aee558906b0bd572cacc06fbe5ab16726741ec..0000000000000000000000000000000000000000
--- a/ur_description/meshes/ur10/collision/UpperArm.dae
+++ /dev/null
@@ -1,61 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
- <asset>
- <contributor>
- <author>Blender User</author>
- <authoring_tool>Blender 2.70.0 commit date:2014-04-10, commit time:11:49, hash:f93bc76</authoring_tool>
- </contributor>
- <created>2014-08-08T14:51:29</created>
- <modified>2014-08-08T14:51:29</modified>
- <unit name="meter" meter="1"/>
- <up_axis>Z_UP</up_axis>
- </asset>
- <library_images/>
- <library_geometries>
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- </polylist>
- </mesh>
- </geometry>
- </library_geometries>
- <library_controllers/>
- <library_visual_scenes>
- <visual_scene id="Scene" name="Scene">
- <node id="node" name="node" type="NODE">
- <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
- <instance_geometry url="#shape0_014-mesh"/>
- </node>
- </visual_scene>
- </library_visual_scenes>
- <scene>
- <instance_visual_scene url="#Scene"/>
- </scene>
-</COLLADA>
\ No newline at end of file
diff --git a/ur_description/meshes/ur10/collision/Wrist1.dae b/ur_description/meshes/ur10/collision/Wrist1.dae
deleted file mode 100644
index d7ee893a6a437ba522fd470cd0bf9940f3ab9c15..0000000000000000000000000000000000000000
--- a/ur_description/meshes/ur10/collision/Wrist1.dae
+++ /dev/null
@@ -1,61 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
- <asset>
- <contributor>
- <author>Blender User</author>
- <authoring_tool>Blender 2.70.0 commit date:2014-04-10, commit time:11:49, hash:f93bc76</authoring_tool>
- </contributor>
- <created>2014-08-08T14:53:09</created>
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1990 957 1990 913 1991 958 1991 959 1991 913 1992 960 1992 930 1992 913 1993 943 1993 961 1993 913 1994 962 1994 932 1994 963 1995 946 1995 913 1995 913 1996 948 1996 964 1996 965 1997 936 1997 913 1997 913 1998 966 1998 935 1998 913 1999 951 1999 967 1999 968 2000 954 2000 913 2000 913 2001 957 2001 969 2001 913 2002 970 2002 971 2002 913 2003 929 2003 972 2003 956 2004 960 2004 913 2004 959 2005 973 2005 913 2005 913 2006 974 2006 975 2006 913 2007 931 2007 955 2007 961 2008 962 2008 913 2008 964 2009 945 2009 913 2009 913 2010 934 2010 968 2010 969 2011 966 2011 913 2011 937 2012 976 2012 913 2012 913 2013 953 2013 977 2013 913 2014 975 2014 938 2014 977 2015 918 2015 913 2015 967 2016 970 2016 913 2016 972 2017 958 2017 913 2017 913 2018 973 2018 978 2018 913 2019 933 2019 926 2019 979 2020 927 2020 913 2020 919 2021 980 2021 913 2021 913 2022 981 2022 982 2022 913 2023 920 2023 944 2023 913 2024 976 2024 963 2024 971 2025 949 2025 913 2025 913 2026 980 2026 965 2026 913 2027 983 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2097</p>
- </polylist>
- </mesh>
- </geometry>
- </library_geometries>
- <library_controllers/>
- <library_visual_scenes>
- <visual_scene id="Scene" name="Scene">
- <node id="node" name="node" type="NODE">
- <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
- <instance_geometry url="#shape0_015-mesh"/>
- </node>
- </visual_scene>
- </library_visual_scenes>
- <scene>
- <instance_visual_scene url="#Scene"/>
- </scene>
-</COLLADA>
\ No newline at end of file
diff --git a/ur_description/meshes/ur10/collision/Wrist2.dae b/ur_description/meshes/ur10/collision/Wrist2.dae
deleted file mode 100644
index d84d3633d440ac6f6834c0c5c19dfdde9b26f5de..0000000000000000000000000000000000000000
--- a/ur_description/meshes/ur10/collision/Wrist2.dae
+++ /dev/null
@@ -1,61 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
- <asset>
- <contributor>
- <author>Blender User</author>
- <authoring_tool>Blender 2.70.0 commit date:2014-04-10, commit time:11:49, hash:f93bc76</authoring_tool>
- </contributor>
- <created>2014-08-08T14:54:37</created>
- <modified>2014-08-08T14:54:37</modified>
- <unit name="meter" meter="1"/>
- <up_axis>Z_UP</up_axis>
- </asset>
- <library_images/>
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- </geometry>
- </library_geometries>
- <library_controllers/>
- <library_visual_scenes>
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- <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
- <instance_geometry url="#shape0_016-mesh"/>
- </node>
- </visual_scene>
- </library_visual_scenes>
- <scene>
- <instance_visual_scene url="#Scene"/>
- </scene>
-</COLLADA>
\ No newline at end of file
diff --git a/ur_description/meshes/ur10/collision/Wrist3.dae b/ur_description/meshes/ur10/collision/Wrist3.dae
deleted file mode 100644
index 8fb236197e95968213c88aa578ed457f18dc2ee2..0000000000000000000000000000000000000000
--- a/ur_description/meshes/ur10/collision/Wrist3.dae
+++ /dev/null
@@ -1,61 +0,0 @@
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-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
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- <contributor>
- <author>Blender User</author>
- <authoring_tool>Blender 2.70.0 commit date:2014-04-10, commit time:11:49, hash:f93bc76</authoring_tool>
- </contributor>
- <created>2014-08-08T14:55:04</created>
- <modified>2014-08-08T14:55:04</modified>
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- </asset>
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\ No newline at end of file
diff --git a/ur_description/meshes/ur10/collision/base.stl b/ur_description/meshes/ur10/collision/base.stl
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diff --git a/ur_description/meshes/ur10/collision/wrist_3.stl b/ur_description/meshes/ur10/collision/wrist_3.stl
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diff --git a/ur_description/meshes/ur5/collision/Base.dae b/ur_description/meshes/ur5/collision/Base.dae
deleted file mode 100644
index 7e31ac0b21da09901b24ae3f28d5fdd9c610004a..0000000000000000000000000000000000000000
--- a/ur_description/meshes/ur5/collision/Base.dae
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\ No newline at end of file
diff --git a/ur_description/meshes/ur5/collision/Forearm.dae b/ur_description/meshes/ur5/collision/Forearm.dae
deleted file mode 100644
index f3263eb507f220f58586a87ce5b4949783e730f4..0000000000000000000000000000000000000000
--- a/ur_description/meshes/ur5/collision/Forearm.dae
+++ /dev/null
@@ -1,61 +0,0 @@
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- </polylist>
- </mesh>
- </geometry>
- </library_geometries>
- <library_controllers/>
- <library_visual_scenes>
- <visual_scene id="Scene" name="Scene">
- <node id="node" name="node" type="NODE">
- <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
- <instance_geometry url="#shape0_001-mesh"/>
- </node>
- </visual_scene>
- </library_visual_scenes>
- <scene>
- <instance_visual_scene url="#Scene"/>
- </scene>
-</COLLADA>
\ No newline at end of file
diff --git a/ur_description/meshes/ur5/collision/Shoulder.dae b/ur_description/meshes/ur5/collision/Shoulder.dae
deleted file mode 100644
index 196183604589e425a0e9b5a45e22e0474e3872c4..0000000000000000000000000000000000000000
--- a/ur_description/meshes/ur5/collision/Shoulder.dae
+++ /dev/null
@@ -1,61 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
- <asset>
- <contributor>
- <author>Blender User</author>
- <authoring_tool>Blender 2.70.0 commit date:2014-04-10, commit time:11:49, hash:f93bc76</authoring_tool>
- </contributor>
- <created>2014-08-08T10:37:02</created>
- <modified>2014-08-08T10:37:02</modified>
- <unit name="meter" meter="1"/>
- <up_axis>Z_UP</up_axis>
- </asset>
- <library_images/>
- <library_geometries>
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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 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- </polylist>
- </mesh>
- </geometry>
- </library_geometries>
- <library_controllers/>
- <library_visual_scenes>
- <visual_scene id="Scene" name="Scene">
- <node id="node" name="node" type="NODE">
- <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
- <instance_geometry url="#shape0_003-mesh"/>
- </node>
- </visual_scene>
- </library_visual_scenes>
- <scene>
- <instance_visual_scene url="#Scene"/>
- </scene>
-</COLLADA>
\ No newline at end of file
diff --git a/ur_description/meshes/ur5/collision/UpperArm.dae b/ur_description/meshes/ur5/collision/UpperArm.dae
deleted file mode 100644
index 558e53b8fc4e104521bdf78a53a9ae4bf55376d8..0000000000000000000000000000000000000000
--- a/ur_description/meshes/ur5/collision/UpperArm.dae
+++ /dev/null
@@ -1,61 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
- <asset>
- <contributor>
- <author>Blender User</author>
- <authoring_tool>Blender 2.70.0 commit date:2014-04-10, commit time:11:49, hash:f93bc76</authoring_tool>
- </contributor>
- <created>2014-08-08T10:37:59</created>
- <modified>2014-08-08T10:37:59</modified>
- <unit name="meter" meter="1"/>
- <up_axis>Z_UP</up_axis>
- </asset>
- <library_images/>
- <library_geometries>
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- </geometry>
- </library_geometries>
- <library_controllers/>
- <library_visual_scenes>
- <visual_scene id="Scene" name="Scene">
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- <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
- <instance_geometry url="#shape0_004-mesh"/>
- </node>
- </visual_scene>
- </library_visual_scenes>
- <scene>
- <instance_visual_scene url="#Scene"/>
- </scene>
-</COLLADA>
\ No newline at end of file
diff --git a/ur_description/meshes/ur5/collision/Wrist1.dae b/ur_description/meshes/ur5/collision/Wrist1.dae
deleted file mode 100644
index 1ae7abd6a25da2bb4f130968170f1a91db094455..0000000000000000000000000000000000000000
--- a/ur_description/meshes/ur5/collision/Wrist1.dae
+++ /dev/null
@@ -1,61 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
- <asset>
- <contributor>
- <author>Blender User</author>
- <authoring_tool>Blender 2.70.0 commit date:2014-04-10, commit time:11:49, hash:f93bc76</authoring_tool>
- </contributor>
- <created>2014-08-08T15:42:59</created>
- <modified>2014-08-08T15:42:59</modified>
- <unit name="meter" meter="1"/>
- <up_axis>Z_UP</up_axis>
- </asset>
- <library_images/>
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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
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3859 1831 3860 1923 3860 1924 3860 1831 3861 1925 3861 1926 3861 1927 3862 1905 3862 1831 3862 1831 3863 1928 3863 1925 3863 1831 3864 1929 3864 1930 3864 1831 3865 1888 3865 1931 3865 1836 3866 1908 3866 1831 3866 1831 3867 1845 3867 1911 3867 1831 3868 1932 3868 1933 3868 1831 3869 1933 3869 1907 3869 1831 3870 1915 3870 1934 3870 1831 3871 1873 3871 1860 3871 1893 3872 1842 3872 1831 3872 1936 3873 1935 3873 1831 3873 1831 3874 1904 3874 1851 3874 1831 3875 1937 3875 1938 3875 1891 3876 1939 3876 1831 3876 1831 3877 1838 3877 1940 3877 1940 3878 1835 3878 1831 3878 1941 3879 1919 3879 1831 3879 1831 3880 1942 3880 1856 3880 1921 3881 1877 3881 1831 3881 1831 3882 1846 3882 1896 3882 1899 3883 1878 3883 1831 3883 1831 3884 1866 3884 1920 3884 1922 3885 1885 3885 1831 3885 1831 3886 1943 3886 1942 3886 1924 3887 1944 3887 1831 3887 1906 3888 1928 3888 1831 3888 1831 3889 1945 3889 1874 3889 1831 3890 1946 3890 1945 3890 1831 3891 1947 3891 1882 3891 1909 3892 1844 3892 1831 3892 1910 3893 1912 3893 1831 3893 1948 3894 1932 3894 1831 3894 1831 3895 1895 3895 1948 3895 1831 3896 1935 3896 1914 3896 1850 3897 1949 3897 1831 3897 1931 3898 1903 3898 1831 3898 1831 3899 1950 3899 1951 3899 1831 3900 1876 3900 1952 3900 1953 3901 1871 3901 1831 3901 1955 3902 1954 3902 1831 3902 1831 3903 1834 3903 1941 3903 1831 3904 1918 3904 1901 3904 1917 3905 1943 3905 1831 3905 1831 3906 1956 3906 1957 3906 1831 3907 1944 3907 1927 3907 1831 3908 1958 3908 1923 3908 1858 3909 1959 3909 1831 3909 1852 3910 1946 3910 1831 3910 1926 3911 1947 3911 1831 3911 1831 3912 1886 3912 1853 3912 1913 3913 1894 3913 1831 3913 1831 3914 1951 3914 1936 3914 1938 3915 1960 3915 1831 3915 1952 3916 1961 3916 1831 3916 1962 3917 1875 3917 1831 3917 1831 3918 1957 3918 1963 3918 1934 3919 1955 3919 1831 3919 1831 3920 1930 3920 1953 3920 1964 3921 1958 3921 1831 3921 1831 3922 1959 3922 1964 3922 1965 3923 1890 3923 1831 3923 1883 3924 1916 3924 1831 3924 1949 3925 1950 3925 1831 3925 1831 3926 1960 3926 1962 3926 1963 3927 1937 3927 1831 3927 1961 3928 1966 3928 1831 3928 1872 3929 1956 3929 1831 3929 1967 3930 1929 3930 1831 3930 1831 3931 1939 3931 1859 3931 1831 3932 1966 3932 1968 3932 1831 3933 1881 3933 1965 3933 1831 3934 1954 3934 1967 3934 1969 3935 1880 3935 1831 3935</p>
- </polylist>
- </mesh>
- </geometry>
- </library_geometries>
- <library_controllers/>
- <library_visual_scenes>
- <visual_scene id="Scene" name="Scene">
- <node id="node" name="node" type="NODE">
- <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
- <instance_geometry url="#shape0_005-mesh"/>
- </node>
- </visual_scene>
- </library_visual_scenes>
- <scene>
- <instance_visual_scene url="#Scene"/>
- </scene>
-</COLLADA>
\ No newline at end of file
diff --git a/ur_description/meshes/ur5/collision/Wrist2.dae b/ur_description/meshes/ur5/collision/Wrist2.dae
deleted file mode 100644
index d898e2f32cf005dfeeadb1213e3cb0e3d68eeefa..0000000000000000000000000000000000000000
--- a/ur_description/meshes/ur5/collision/Wrist2.dae
+++ /dev/null
@@ -1,61 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
- <asset>
- <contributor>
- <author>Blender User</author>
- <authoring_tool>Blender 2.70.0 commit date:2014-04-10, commit time:11:49, hash:f93bc76</authoring_tool>
- </contributor>
- <created>2014-08-08T15:44:09</created>
- <modified>2014-08-08T15:44:09</modified>
- <unit name="meter" meter="1"/>
- <up_axis>Z_UP</up_axis>
- </asset>
- <library_images/>
- <library_geometries>
- <geometry id="shape0_006-mesh" name="shape0.006">
- <mesh>
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1812 3791 1822 3792 1824 3792 1812 3792 1827 3793 1828 3793 1812 3793 1829 3794 1825 3794 1812 3794 1813 3795 1812 3795 1826 3795 1830 3796 1817 3796 1812 3796 1828 3797 1831 3797 1812 3797 1830 3798 1812 3798 1823 3798 1829 3799 1812 3799 1821 3799 1816 3800 1812 3800 1831 3800 1827 3801 1812 3801 1818 3801 1832 3802 1812 3802 1815 3802 1833 3803 1820 3803 1812 3803 1835 3804 1834 3804 1836 3804 1837 3805 1838 3805 1834 3805 1839 3806 1834 3806 1840 3806 1841 3807 1834 3807 1842 3807 1843 3808 1844 3808 1834 3808 1845 3809 1834 3809 1846 3809 1847 3810 1834 3810 1848 3810 1849 3811 1850 3811 1834 3811 1851 3812 1834 3812 1852 3812 1853 3813 1834 3813 1854 3813 1855 3814 1834 3814 1856 3814 1857 3815 1834 3815 1858 3815 1859 3816 1860 3816 1834 3816 1861 3817 1834 3817 1862 3817 1863 3818 1862 3818 1834 3818 1844 3819 1854 3819 1834 3819 1849 3820 1834 3820 1864 3820 1865 3821 1866 3821 1834 3821 1867 3822 1834 3822 1838 3822 1866 3823 1868 3823 1834 3823 1869 3824 1834 3824 1870 3824 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1911 3925 1834 3925 1936 3925 1958 3926 1950 3926 1834 3926 1965 3927 1964 3927 1834 3927 1952 3928 1834 3928 1943 3928 1962 3929 1946 3929 1834 3929 1966 3930 1834 3930 1967 3930 1968 3931 1961 3931 1834 3931 1969 3932 1834 3932 1970 3932 1966 3933 1959 3933 1834 3933 1963 3934 1907 3934 1834 3934 1965 3935 1834 3935 1945 3935 1968 3936 1834 3936 1939 3936 1960 3937 1920 3937 1834 3937 1971 3938 1970 3938 1834 3938 1971 3939 1834 3939 1904 3939</p>
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- <scene>
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-</COLLADA>
\ No newline at end of file
diff --git a/ur_description/meshes/ur5/collision/Wrist3.dae b/ur_description/meshes/ur5/collision/Wrist3.dae
deleted file mode 100644
index b084463418d642bde2a1873ff337a9e45c5ed6fa..0000000000000000000000000000000000000000
--- a/ur_description/meshes/ur5/collision/Wrist3.dae
+++ /dev/null
@@ -1,61 +0,0 @@
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- <technique_common>
- <accessor source="#shape0_007-mesh-normals-array" count="352" stride="3">
- <param name="X" type="float"/>
- <param name="Y" type="float"/>
- <param name="Z" type="float"/>
- </accessor>
- </technique_common>
- </source>
- <vertices id="shape0_007-mesh-vertices">
- <input semantic="POSITION" source="#shape0_007-mesh-positions"/>
- </vertices>
- <polylist count="352">
- <input semantic="VERTEX" source="#shape0_007-mesh-vertices" offset="0"/>
- <input semantic="NORMAL" source="#shape0_007-mesh-normals" offset="1"/>
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197 37 198 154 198 171 198 44 199 47 199 38 199 31 200 49 200 126 200 50 201 49 201 31 201 49 202 90 202 126 202 32 203 40 203 39 203 39 204 33 204 32 204 39 205 34 205 33 205 34 206 39 206 75 206 158 207 35 207 41 207 158 208 159 208 35 208 172 209 44 209 36 209 36 210 171 210 172 210 37 211 171 211 36 211 36 212 38 212 37 212 36 213 44 213 38 213 173 214 44 214 172 214 43 215 89 215 90 215 41 216 89 216 43 216 39 217 56 217 75 217 56 218 39 218 40 218 56 219 40 219 176 219 127 220 158 220 41 220 41 221 43 221 127 221 127 222 43 222 174 222 42 223 173 223 174 223 174 224 43 224 42 224 42 225 44 225 173 225 42 226 45 226 46 226 90 227 45 227 42 227 42 228 43 228 90 228 46 229 47 229 42 229 47 230 44 230 42 230 90 231 49 231 48 231 48 232 55 232 90 232 48 233 49 233 50 233 48 234 50 234 54 234 55 235 48 235 54 235 53 236 52 236 51 236 51 237 54 237 53 237 51 238 55 238 54 238 51 239 52 239 90 239 90 240 55 240 51 240 80 241 75 241 175 241 56 242 175 242 75 242 175 243 56 243 176 243 57 244 58 244 59 244 57 245 59 245 60 245 61 246 63 246 62 246 61 247 62 247 64 247 65 248 67 248 66 248 65 249 66 249 68 249 69 250 70 250 63 250 63 251 61 251 69 251 71 252 72 252 73 252 74 253 72 253 71 253 73 254 72 254 75 254 75 255 72 255 76 255 75 256 77 256 78 256 75 257 79 257 77 257 75 258 81 258 79 258 80 259 81 259 75 259 82 260 84 260 83 260 82 261 83 261 85 261 88 262 87 262 86 262 89 263 86 263 90 263 86 264 91 264 92 264 94 265 93 265 86 265 86 266 87 266 95 266 93 267 96 267 86 267 86 268 96 268 88 268 86 269 92 269 90 269 95 270 91 270 86 270 86 271 89 271 97 271 59 272 58 272 98 272 98 273 66 273 67 273 98 274 99 274 59 274 98 275 77 275 100 275 67 276 101 276 98 276 98 277 62 277 63 277 98 278 101 278 102 278 98 279 58 279 103 279 102 280 99 280 98 280 98 281 104 281 105 281 63 282 70 282 98 282 106 283 66 283 98 283 98 284 78 284 77 284 103 285 62 285 98 285 98 286 70 286 107 286 98 287 108 287 78 287 98 288 100 288 106 288 107 289 104 289 98 289 109 290 108 290 98 290 98 291 110 291 109 291 111 292 104 292 107 292 111 293 107 293 112 293 115 294 114 294 113 294 113 295 116 295 115 295 117 296 118 296 119 296 119 297 120 297 117 297 117 298 75 298 76 298 76 299 118 299 117 299 121 300 122 300 123 300 123 301 124 301 121 301 90 302 92 302 125 302 126 303 90 303 125 303 127 304 128 304 129 304 131 305 130 305 127 305 127 306 132 306 133 306 127 307 134 307 135 307 137 308 136 308 127 308 127 309 129 309 138 309 140 310 139 310 127 310 138 311 141 311 127 311 135 312 142 312 127 312 127 313 143 313 144 313 145 314 137 314 127 314 127 315 146 315 147 315 147 316 131 316 127 316 127 317 141 317 140 317 148 318 134 318 127 318 127 319 142 319 149 319 150 320 143 320 127 320 127 321 151 321 148 321 127 322 152 322 151 322 127 323 154 323 153 323 133 324 155 324 127 324 157 325 156 325 127 325 159 326 158 326 127 326 149 327 128 327 127 327 130 328 160 328 127 328 144 329 152 329 127 329 127 330 153 330 150 330 161 331 132 331 127 331 127 332 155 332 162 332 164 333 163 333 127 333 166 334 165 334 127 334 168 335 167 335 127 335 167 336 169 336 127 336 139 337 157 337 127 337 127 338 163 338 168 338 127 339 136 339 170 339 162 340 166 340 127 340 127 341 172 341 171 341 127 342 169 342 146 342 127 343 160 343 161 343 127 344 156 344 164 344 127 345 165 345 145 345 170 346 159 346 127 346 127 347 171 347 154 347 127 348 173 348 172 348 173 349 127 349 174 349 175 350 176 350 177 350 175 351 177 351 80 351</p>
- </polylist>
- </mesh>
- </geometry>
- </library_geometries>
- <library_controllers/>
- <library_visual_scenes>
- <visual_scene id="Scene" name="Scene">
- <node id="node" name="node" type="NODE">
- <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
- <instance_geometry url="#shape0_007-mesh"/>
- </node>
- </visual_scene>
- </library_visual_scenes>
- <scene>
- <instance_visual_scene url="#Scene"/>
- </scene>
-</COLLADA>
\ No newline at end of file
diff --git a/ur_description/meshes/ur5/collision/base.stl b/ur_description/meshes/ur5/collision/base.stl
new file mode 100644
index 0000000000000000000000000000000000000000..4eb2f7eb38493e36b16587650cd65c516ea27766
Binary files /dev/null and b/ur_description/meshes/ur5/collision/base.stl differ
diff --git a/ur_description/meshes/ur5/collision/forearm.stl b/ur_description/meshes/ur5/collision/forearm.stl
new file mode 100644
index 0000000000000000000000000000000000000000..ffbed4536ef7c23c7691736124e161a226546bb9
Binary files /dev/null and b/ur_description/meshes/ur5/collision/forearm.stl differ
diff --git a/ur_description/meshes/ur5/collision/shoulder.stl b/ur_description/meshes/ur5/collision/shoulder.stl
new file mode 100644
index 0000000000000000000000000000000000000000..5088831c10deb4656b129feee4bd533824e7c152
Binary files /dev/null and b/ur_description/meshes/ur5/collision/shoulder.stl differ
diff --git a/ur_description/meshes/ur5/collision/upper_arm.stl b/ur_description/meshes/ur5/collision/upper_arm.stl
new file mode 100644
index 0000000000000000000000000000000000000000..734386e871f9114d9be2567a68c66179ea8f16b5
Binary files /dev/null and b/ur_description/meshes/ur5/collision/upper_arm.stl differ
diff --git a/ur_description/meshes/ur5/collision/wrist_1.stl b/ur_description/meshes/ur5/collision/wrist_1.stl
new file mode 100644
index 0000000000000000000000000000000000000000..a960c0c571ba7366ed2a72e94ee733bcaf034485
Binary files /dev/null and b/ur_description/meshes/ur5/collision/wrist_1.stl differ
diff --git a/ur_description/meshes/ur5/collision/wrist_2.stl b/ur_description/meshes/ur5/collision/wrist_2.stl
new file mode 100644
index 0000000000000000000000000000000000000000..9b089de4c6077cc743130865040b934248cc5b4d
Binary files /dev/null and b/ur_description/meshes/ur5/collision/wrist_2.stl differ
diff --git a/ur_description/meshes/ur5/collision/wrist_3.stl b/ur_description/meshes/ur5/collision/wrist_3.stl
new file mode 100644
index 0000000000000000000000000000000000000000..96c71f0413dfe4311bd253a8747824f29982aed4
Binary files /dev/null and b/ur_description/meshes/ur5/collision/wrist_3.stl differ
diff --git a/ur_description/urdf/ur10.urdf.xacro b/ur_description/urdf/ur10.urdf.xacro
index 2ffeb2d96f761fa97944ecabde1339f39c1011cc..f9261281c2e461594365d161da123380d2767ed3 100644
--- a/ur_description/urdf/ur10.urdf.xacro
+++ b/ur_description/urdf/ur10.urdf.xacro
@@ -73,7 +73,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Base.dae"/>
+ <mesh filename="package://ur_description/meshes/ur10/collision/base.stl"/>
</geometry>
</collision>
<xacro:cylinder_inertial radius="0.075" length="0.038" mass="${base_mass}">
@@ -103,7 +103,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Shoulder.dae"/>
+ <mesh filename="package://ur_description/meshes/ur10/collision/shoulder.stl"/>
</geometry>
</collision>
<xacro:cylinder_inertial radius="0.075" length="0.178" mass="${shoulder_mass}">
@@ -133,7 +133,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/UpperArm.dae"/>
+ <mesh filename="package://ur_description/meshes/ur10/collision/upper_arm.stl"/>
</geometry>
</collision>
<xacro:cylinder_inertial radius="0.075" length="${-ur10_a2}" mass="${upper_arm_mass}">
@@ -163,7 +163,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Forearm.dae"/>
+ <mesh filename="package://ur_description/meshes/ur10/collision/forearm.stl"/>
</geometry>
</collision>
<xacro:cylinder_inertial radius="0.075" length="${-ur10_a3}" mass="${forearm_mass}">
@@ -193,7 +193,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Wrist1.dae"/>
+ <mesh filename="package://ur_description/meshes/ur10/collision/wrist_1.stl"/>
</geometry>
</collision>
<xacro:cylinder_inertial radius="0.075" length="0.12" mass="${wrist_1_mass}">
@@ -223,7 +223,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Wrist2.dae"/>
+ <mesh filename="package://ur_description/meshes/ur10/collision/wrist_2.stl"/>
</geometry>
</collision>
<xacro:cylinder_inertial radius="0.075" length="0.12" mass="${wrist_2_mass}">
@@ -253,7 +253,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Wrist3.dae"/>
+ <mesh filename="package://ur_description/meshes/ur10/collision/wrist_3.stl"/>
</geometry>
</collision>
<xacro:cylinder_inertial radius="0.075" length="0.12" mass="${wrist_3_mass}">
@@ -267,7 +267,14 @@
<origin xyz="0.0 ${wrist_3_length} 0.0" rpy="0.0 0.0 ${pi/2.0}" />
</joint>
- <link name="${prefix}ee_link" />
+ <link name="${prefix}ee_link">
+ <collision>
+ <geometry>
+ <box size="0.01 0.01 0.01"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="-0.01 0 0"/>
+ </collision>
+ </link>
<xacro:ur10_arm_transmission prefix="${prefix}" />
<xacro:ur10_arm_gazebo prefix="${prefix}" />
diff --git a/ur_description/urdf/ur10_joint_limited.urdf.xacro b/ur_description/urdf/ur10_joint_limited.urdf.xacro
deleted file mode 100644
index 1f4860ce6de766ec464d3e5a161a9fb139f578b2..0000000000000000000000000000000000000000
--- a/ur_description/urdf/ur10_joint_limited.urdf.xacro
+++ /dev/null
@@ -1,284 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-
- <xacro:include filename="$(find ur_description)/urdf/ur10.transmission.xacro" />
- <xacro:include filename="$(find ur_description)/urdf/ur10.gazebo.xacro" />
- <xacro:include filename="$(find ur_description)/urdf/materials.urdf.xacro" />
-
- <property name="pi" value="3.14159265" />
-
- <!-- Inertia parameters -->
- <property name="base_mass" value="4.0" />
- <property name="shoulder_mass" value="3.7000" />
- <property name="upper_arm_mass" value="8.3930" />
- <property name="forearm_mass" value="2.2750" />
- <property name="wrist_1_mass" value="1.2190" />
- <property name="wrist_2_mass" value="1.2190" />
- <property name="wrist_3_mass" value="0.1879" />
-
- <property name="shoulder_cog" value="0.0 0.00193 -0.02561" />
- <property name="upper_arm_cog" value="0.0 -0.024201 0.2125" />
- <property name="forearm_cog" value="0.0 0.0265 0.11993" />
- <property name="wrist_1_cog" value="0.0 0.110949 0.01634" />
- <property name="wrist_2_cog" value="0.0 0.0018 0.11099" />
- <property name="wrist_3_cog" value="0.0 0.001159 0.0" />
-
- <!-- Kinematic model -->
- <property name="shoulder_height" value="0.128" />
- <property name="shoulder_offset" value="0.1704" />
- <property name="upper_arm_length" value="0.60186" />
- <property name="elbow_offset" value="0.12817" />
- <property name="forearm_length" value="0.56415" />
- <property name="wrist_1_length" value="0.11279" />
- <property name="wrist_2_length" value="0.11279" />
- <property name="wrist_3_length" value="0.0857" />
-
- <property name="shoulder_radius" value="0.060" />
- <property name="upper_arm_radius" value="0.054" />
- <property name="elbow_radius" value="0.060" />
- <property name="forearm_radius" value="0.040" />
- <property name="wrist_radius" value="0.045" />
-
- <!-- Collision model -->
- <property name="base_collision_length" value="0.160" />
- <property name="shoulder_collision_length" value="0.200" />
- <property name="shoulder_collision_offset" value="0.035" />
- <property name="elbow_collision_length" value="0.200" />
- <property name="elbow_collision_offset" value="0.035" />
-
-
-
- <xacro:macro name="ur10_robot" params="prefix">
-
- <link name="${prefix}base_link" >
- </link>
-
- <joint name="${prefix}base_link_joint" type="fixed">
- <parent link="${prefix}base_link" />
- <child link = "${prefix}ur_base_link" />
- <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
- </joint>
-
- <link name="${prefix}ur_base_link" >
- <visual>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/visual/Base.stl" />
- </geometry>
- <origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 ${3.0 * pi / 4.0}" />
- <material name="UR/Blue" />
- </visual>
-
- <collision>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Base.stl" />
- </geometry>
- <origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 ${3.0 * pi / 4.0}" />
- </collision>
-
- <inertial>
- <mass value="${base_mass}" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- </link>
-
- <joint name="${prefix}shoulder_pan_joint" type="revolute">
- <parent link="${prefix}ur_base_link" />
- <child link = "${prefix}shoulder_link" />
- <origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" />
- <axis xyz="0.0 0.0 1.0" />
- <limit lower="${-pi}" upper="${pi}" effort="330.0" velocity="2.16"/>
- <dynamics damping="1.2" friction="0.0"/>
- </joint>
-
- <link name="${prefix}shoulder_link">
- <visual>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/visual/Shoulder.stl" />
- </geometry>
- <material name="UR/Grey" />
- </visual>
-
- <collision>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Shoulder.stl" />
- </geometry>
- </collision>
-
- <inertial>
- <mass value="${shoulder_mass}" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- <origin xyz="${shoulder_cog}" rpy="0.0 0.0 0.0" />
- </inertial>
- </link>
-
- <joint name="${prefix}shoulder_lift_joint" type="revolute">
- <parent link="${prefix}shoulder_link" />
- <child link = "${prefix}upper_arm_link" />
- <origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />
- <axis xyz="0.0 1.0 0.0" />
- <limit lower="${-pi}" upper="${pi}" effort="10.0" velocity="${pi}"/>
- <dynamics damping="1.2" friction="0.0"/>
- </joint>
-
- <link name="${prefix}upper_arm_link">
- <visual>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/visual/UpperArm.stl" />
- </geometry>
- <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
- <material name="UR/Blue" />
- </visual>
-
- <collision>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/UpperArm.stl" />
- </geometry>
- <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
- </collision>
-
- <inertial>
- <mass value="${upper_arm_mass}" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- <origin xyz="${upper_arm_cog}" rpy="0.0 0.0 0.0" />
- </inertial>
- </link>
-
- <joint name="${prefix}elbow_joint" type="revolute">
- <parent link="${prefix}upper_arm_link" />
- <child link = "${prefix}forearm_link" />
- <origin xyz="0.0 ${-elbow_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" />
- <axis xyz="0.0 1.0 0.0" />
- <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="${pi}"/>
- <dynamics damping="0.6" friction="0.0"/>
- </joint>
-
- <link name="${prefix}forearm_link">
- <visual>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/visual/Forearm.stl" />
- </geometry>
- <material name="UR/Grey" />
- </visual>
-
- <collision>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Forearm.stl" />
- </geometry>
- </collision>
-
- <inertial>
- <mass value="${forearm_mass}" />
- <origin xyz="${forearm_cog}" rpy="0.0 0.0 0.0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- </link>
-
- <joint name="${prefix}wrist_1_joint" type="revolute">
- <parent link="${prefix}forearm_link" />
- <child link = "${prefix}wrist_1_link" />
- <origin xyz="0.0 0.0 ${forearm_length}" rpy="0.0 ${pi / 2.0} 0.0" />
- <axis xyz="0.0 1.0 0.0" />
- <limit lower="${-pi}" upper="${pi}" effort="54.0" velocity="${pi}"/>
- <dynamics damping="0.6" friction="0.0"/>
- </joint>
-
- <link name="${prefix}wrist_1_link">
- <visual>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/visual/Wrist1.stl" />
- </geometry>
- <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0 0.0" />
- <material name="UR/Blue" />
- </visual>
-
- <collision>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Wrist1.stl" />
- </geometry>
- <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0 0.0" />
- </collision>
-
- <inertial>
- <mass value="${wrist_1_mass}" />
- <origin xyz="${wrist_1_cog}" rpy="0.0 0.0 0.0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- </link>
-
- <joint name="${prefix}wrist_2_joint" type="revolute">
- <parent link="${prefix}wrist_1_link" />
- <child link = "${prefix}wrist_2_link" />
- <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0.0 0.0" />
- <axis xyz="0.0 0.0 1.0" />
- <limit lower="${-pi}" upper="${pi}" effort="54.0" velocity="${pi}"/>
- <dynamics damping="0.6" friction="0.0"/>
- </joint>
-
- <link name="${prefix}wrist_2_link">
- <visual>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/visual/Wrist2.stl" />
- </geometry>
- <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
- <material name="UR/Grey" />
- </visual>
-
- <collision>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Wrist2.stl" />
- </geometry>
- <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
- </collision>
-
- <inertial>
- <mass value="${wrist_2_mass}" />
- <origin xyz="${wrist_2_cog}" rpy="0.0 0.0 0.0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- </link>
-
- <joint name="${prefix}wrist_3_joint" type="revolute">
- <parent link="${prefix}wrist_2_link" />
- <child link = "${prefix}wrist_3_link" />
- <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
- <axis xyz="0.0 1.0 0.0" />
- <limit lower="${-pi}" upper="${pi}" effort="54.0" velocity="${pi}"/>
- <dynamics damping="0.6" friction="0.0"/>
- </joint>
-
- <link name="${prefix}wrist_3_link">
- <visual>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/visual/Wrist3.stl" />
- </geometry>
- <origin xyz="0.0 ${wrist_3_length} 0.0" rpy="0.0 0.0 0" />
- <material name="UR/Blue" />
- </visual>
-
- <collision>
- <geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Wrist3.stl" />
- </geometry>
- <origin xyz="0.0 ${wrist_3_length} 0.0" rpy="0.0 0.0 0" />
- </collision>
-
- <inertial>
- <mass value="${wrist_3_mass}" />
- <origin xyz="${wrist_3_cog}" rpy="0.0 0.0 0.0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- </link>
-
- <joint name="${prefix}ee_fixed_joint" type="fixed">
- <parent link="${prefix}wrist_3_link" />
- <child link = "${prefix}ee_link" />
- <origin xyz="0.0 ${wrist_3_length} 0.0" rpy="0.0 0.0 ${pi/2.0}" />
- </joint>
-
- <link name="${prefix}ee_link" />
-
- <xacro:ur10_arm_transmission prefix="${prefix}" />
- <xacro:ur10_arm_gazebo prefix="${prefix}" />
-
- </xacro:macro>
-</robot>
diff --git a/ur_description/urdf/ur10_joint_limited_robot.urdf b/ur_description/urdf/ur10_joint_limited_robot.urdf
index 7ccfc3c332ef7f8d7bde974a7f69d0c6b533f2a8..b2c3bba13460bf9df4ff38e3e269b1cb9af7965b 100644
--- a/ur_description/urdf/ur10_joint_limited_robot.urdf
+++ b/ur_description/urdf/ur10_joint_limited_robot.urdf
@@ -35,7 +35,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Base.dae"/>
+ <mesh filename="package://ur_description/meshes/ur10/collision/base.stl"/>
</geometry>
</collision>
<inertial>
@@ -60,7 +60,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Shoulder.dae"/>
+ <mesh filename="package://ur_description/meshes/ur10/collision/shoulder.stl"/>
</geometry>
</collision>
<inertial>
@@ -85,7 +85,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/UpperArm.dae"/>
+ <mesh filename="package://ur_description/meshes/ur10/collision/upper_arm.stl"/>
</geometry>
</collision>
<inertial>
@@ -110,7 +110,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Forearm.dae"/>
+ <mesh filename="package://ur_description/meshes/ur10/collision/forearm.stl"/>
</geometry>
</collision>
<inertial>
@@ -135,7 +135,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Wrist1.dae"/>
+ <mesh filename="package://ur_description/meshes/ur10/collision/wrist_1.stl"/>
</geometry>
</collision>
<inertial>
@@ -160,7 +160,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Wrist2.dae"/>
+ <mesh filename="package://ur_description/meshes/ur10/collision/wrist_2.stl"/>
</geometry>
</collision>
<inertial>
@@ -185,7 +185,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Wrist3.dae"/>
+ <mesh filename="package://ur_description/meshes/ur10/collision/wrist_3.stl"/>
</geometry>
</collision>
<inertial>
@@ -199,7 +199,14 @@
<child link="ee_link"/>
<origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0922 0.0"/>
</joint>
- <link name="ee_link"/>
+ <link name="ee_link">
+ <collision>
+ <geometry>
+ <box size="0.01 0.01 0.01"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="-0.01 0 0"/>
+ </collision>
+ </link>
<transmission name="shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="shoulder_pan_joint"/>
diff --git a/ur_description/urdf/ur10_robot.urdf b/ur_description/urdf/ur10_robot.urdf
index 810b5d81d8cf145ca8cb128587c6249b510a88c8..7287ffb392d41d51d5a23cd4b6acf9c40c1eedf0 100644
--- a/ur_description/urdf/ur10_robot.urdf
+++ b/ur_description/urdf/ur10_robot.urdf
@@ -35,7 +35,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Base.dae"/>
+ <mesh filename="package://ur_description/meshes/ur10/collision/base.stl"/>
</geometry>
</collision>
<inertial>
@@ -60,7 +60,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Shoulder.dae"/>
+ <mesh filename="package://ur_description/meshes/ur10/collision/shoulder.stl"/>
</geometry>
</collision>
<inertial>
@@ -85,7 +85,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/UpperArm.dae"/>
+ <mesh filename="package://ur_description/meshes/ur10/collision/upper_arm.stl"/>
</geometry>
</collision>
<inertial>
@@ -110,7 +110,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Forearm.dae"/>
+ <mesh filename="package://ur_description/meshes/ur10/collision/forearm.stl"/>
</geometry>
</collision>
<inertial>
@@ -135,7 +135,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Wrist1.dae"/>
+ <mesh filename="package://ur_description/meshes/ur10/collision/wrist_1.stl"/>
</geometry>
</collision>
<inertial>
@@ -160,7 +160,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Wrist2.dae"/>
+ <mesh filename="package://ur_description/meshes/ur10/collision/wrist_2.stl"/>
</geometry>
</collision>
<inertial>
@@ -185,7 +185,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur10/collision/Wrist3.dae"/>
+ <mesh filename="package://ur_description/meshes/ur10/collision/wrist_3.stl"/>
</geometry>
</collision>
<inertial>
@@ -199,7 +199,14 @@
<child link="ee_link"/>
<origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0922 0.0"/>
</joint>
- <link name="ee_link"/>
+ <link name="ee_link">
+ <collision>
+ <geometry>
+ <box size="0.01 0.01 0.01"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="-0.01 0 0"/>
+ </collision>
+ </link>
<transmission name="shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="shoulder_pan_joint"/>
diff --git a/ur_description/urdf/ur5.urdf.xacro b/ur_description/urdf/ur5.urdf.xacro
index e4634c19fb48646abcab7bb6bf2a1dd92b58cf3d..a3815ecf3f745f644971b079dd0c792f3215d12c 100644
--- a/ur_description/urdf/ur5.urdf.xacro
+++ b/ur_description/urdf/ur5.urdf.xacro
@@ -88,7 +88,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur5/collision/Base.dae" />
+ <mesh filename="package://ur_description/meshes/ur5/collision/base.stl" />
</geometry>
</collision>
<xacro:cylinder_inertial radius="0.06" length="0.05" mass="${base_mass}">
@@ -118,7 +118,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur5/collision/Shoulder.dae" />
+ <mesh filename="package://ur_description/meshes/ur5/collision/shoulder.stl" />
</geometry>
</collision>
<xacro:cylinder_inertial radius="0.06" length="0.15" mass="${shoulder_mass}">
@@ -148,7 +148,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur5/collision/UpperArm.dae" />
+ <mesh filename="package://ur_description/meshes/ur5/collision/upper_arm.stl" />
</geometry>
</collision>
<xacro:cylinder_inertial radius="0.06" length="0.56" mass="${upper_arm_mass}">
@@ -178,7 +178,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur5/collision/Forearm.dae" />
+ <mesh filename="package://ur_description/meshes/ur5/collision/forearm.stl" />
</geometry>
</collision>
<xacro:cylinder_inertial radius="0.06" length="0.5" mass="${forearm_mass}">
@@ -208,7 +208,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur5/collision/Wrist1.dae" />
+ <mesh filename="package://ur_description/meshes/ur5/collision/wrist_1.stl" />
</geometry>
</collision>
<xacro:cylinder_inertial radius="0.6" length="0.12" mass="${wrist_1_mass}">
@@ -238,7 +238,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur5/collision/Wrist2.dae" />
+ <mesh filename="package://ur_description/meshes/ur5/collision/wrist_2.stl" />
</geometry>
</collision>
<xacro:cylinder_inertial radius="0.6" length="0.12" mass="${wrist_2_mass}">
@@ -268,7 +268,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur5/collision/Wrist3.dae" />
+ <mesh filename="package://ur_description/meshes/ur5/collision/wrist_3.stl" />
</geometry>
</collision>
<xacro:cylinder_inertial radius="0.6" length="0.12" mass="${wrist_3_mass}">
@@ -282,7 +282,14 @@
<origin xyz="0.0 ${wrist_3_length} 0.0" rpy="0.0 0.0 ${pi/2.0}" />
</joint>
- <link name="${prefix}ee_link" />
+ <link name="${prefix}ee_link">
+ <collision>
+ <geometry>
+ <box size="0.01 0.01 0.01"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="-0.01 0 0"/>
+ </collision>
+ </link>
<xacro:ur5_arm_transmission prefix="${prefix}" />
<xacro:ur5_arm_gazebo prefix="${prefix}" />
diff --git a/ur_description/urdf/ur5_joint_limited_robot.urdf b/ur_description/urdf/ur5_joint_limited_robot.urdf
index b0c992b45df90056ec670bdde60cfe914abc841f..671e2f8e431243fb7f2e7c125d28364fa189c0a1 100644
--- a/ur_description/urdf/ur5_joint_limited_robot.urdf
+++ b/ur_description/urdf/ur5_joint_limited_robot.urdf
@@ -35,7 +35,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur5/collision/Base.dae"/>
+ <mesh filename="package://ur_description/meshes/ur5/collision/base.stl"/>
</geometry>
</collision>
<inertial>
@@ -60,7 +60,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur5/collision/Shoulder.dae"/>
+ <mesh filename="package://ur_description/meshes/ur5/collision/shoulder.stl"/>
</geometry>
</collision>
<inertial>
@@ -85,7 +85,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur5/collision/UpperArm.dae"/>
+ <mesh filename="package://ur_description/meshes/ur5/collision/upper_arm.stl"/>
</geometry>
</collision>
<inertial>
@@ -110,7 +110,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur5/collision/Forearm.dae"/>
+ <mesh filename="package://ur_description/meshes/ur5/collision/forearm.stl"/>
</geometry>
</collision>
<inertial>
@@ -135,7 +135,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur5/collision/Wrist1.dae"/>
+ <mesh filename="package://ur_description/meshes/ur5/collision/wrist_1.stl"/>
</geometry>
</collision>
<inertial>
@@ -160,7 +160,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur5/collision/Wrist2.dae"/>
+ <mesh filename="package://ur_description/meshes/ur5/collision/wrist_2.stl"/>
</geometry>
</collision>
<inertial>
@@ -185,7 +185,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur5/collision/Wrist3.dae"/>
+ <mesh filename="package://ur_description/meshes/ur5/collision/wrist_3.stl"/>
</geometry>
</collision>
<inertial>
@@ -199,7 +199,14 @@
<child link="ee_link"/>
<origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0823 0.0"/>
</joint>
- <link name="ee_link"/>
+ <link name="ee_link">
+ <collision>
+ <geometry>
+ <box size="0.01 0.01 0.01"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="-0.01 0 0"/>
+ </collision>
+ </link>
<transmission name="shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="shoulder_pan_joint"/>
diff --git a/ur_description/urdf/ur5_robot.urdf b/ur_description/urdf/ur5_robot.urdf
index 74103fa54f91ae1cf0a2721f61b82ef1e3916fff..d516f3dfbe701d1e3e168357f760be6054298f38 100644
--- a/ur_description/urdf/ur5_robot.urdf
+++ b/ur_description/urdf/ur5_robot.urdf
@@ -35,7 +35,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur5/collision/Base.dae"/>
+ <mesh filename="package://ur_description/meshes/ur5/collision/base.stl"/>
</geometry>
</collision>
<inertial>
@@ -60,7 +60,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur5/collision/Shoulder.dae"/>
+ <mesh filename="package://ur_description/meshes/ur5/collision/shoulder.stl"/>
</geometry>
</collision>
<inertial>
@@ -85,7 +85,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur5/collision/UpperArm.dae"/>
+ <mesh filename="package://ur_description/meshes/ur5/collision/upper_arm.stl"/>
</geometry>
</collision>
<inertial>
@@ -110,7 +110,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur5/collision/Forearm.dae"/>
+ <mesh filename="package://ur_description/meshes/ur5/collision/forearm.stl"/>
</geometry>
</collision>
<inertial>
@@ -135,7 +135,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur5/collision/Wrist1.dae"/>
+ <mesh filename="package://ur_description/meshes/ur5/collision/wrist_1.stl"/>
</geometry>
</collision>
<inertial>
@@ -160,7 +160,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur5/collision/Wrist2.dae"/>
+ <mesh filename="package://ur_description/meshes/ur5/collision/wrist_2.stl"/>
</geometry>
</collision>
<inertial>
@@ -185,7 +185,7 @@
</visual>
<collision>
<geometry>
- <mesh filename="package://ur_description/meshes/ur5/collision/Wrist3.dae"/>
+ <mesh filename="package://ur_description/meshes/ur5/collision/wrist_3.stl"/>
</geometry>
</collision>
<inertial>
@@ -199,7 +199,14 @@
<child link="ee_link"/>
<origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0823 0.0"/>
</joint>
- <link name="ee_link"/>
+ <link name="ee_link">
+ <collision>
+ <geometry>
+ <box size="0.01 0.01 0.01"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="-0.01 0 0"/>
+ </collision>
+ </link>
<transmission name="shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="shoulder_pan_joint"/>
diff --git a/ur_driver/package.xml b/ur_driver/package.xml
index dda1de3d38c7f8de31f7933680414f7056a01253..ad68042e844d1aba57af049510efa3c784f77b48 100644
--- a/ur_driver/package.xml
+++ b/ur_driver/package.xml
@@ -12,18 +12,13 @@
<author>Stuart Glaser</author>
<author email="sedwards@swri.org">Shaun Edwards</author>
-
<buildtool_depend>catkin</buildtool_depend>
-
+
<run_depend>rospy</run_depend>
<run_depend>actionlib</run_depend>
<run_depend>control_msgs</run_depend>
<run_depend>sensor_msgs</run_depend>
<run_depend>trajectory_msgs</run_depend>
<run_depend>ur_msgs</run_depend>
- <run_depend>python-beautifulsoup</run_depend>
-
-
- <export>
- </export>
+ <run_depend>python-lxml</run_depend>
</package>
diff --git a/ur_driver/prog b/ur_driver/prog
index 6f118e1a5880171dd56f9cb3e14f73ec34aaaae0..de63229e2a067155451ec9b20215863494fbcc5c 100644
--- a/ur_driver/prog
+++ b/ur_driver/prog
@@ -8,6 +8,7 @@ def driverProg():
MSG_WAYPOINT_FINISHED = 5
MSG_STOPJ = 6
MSG_SERVOJ = 7
+ MSG_SET_PAYLOAD = 8
MSG_WRENCH = 9
MSG_SET_DIGITAL_OUT = 10
MSG_GET_IO = 11
@@ -15,9 +16,11 @@ def driverProg():
MSG_SET_TOOL_VOLTAGE = 13
MSG_SET_ANALOG_OUT = 14
MULT_wrench = 10000.0
+ MULT_payload = 1000.0
MULT_jointstate = 10000.0
MULT_time = 1000000.0
MULT_blend = 1000.0
+ MULT_analog = 1000000.0
pi = 3.14159265359
def send_out(msg):
@@ -34,61 +37,7 @@ def driverProg():
socket_send_int(waypoint_id)
exit_critical
end
-
- thread statePublisherThread():
- def send_joint_state():
- q = get_joint_positions()
- qdot = get_joint_speeds()
- tau = get_joint_torques()
- wrench = get_tcp_force()
- enter_critical
- socket_send_int(MSG_JOINT_STATES)
- socket_send_int(floor(MULT_jointstate * q[0]))
- socket_send_int(floor(MULT_jointstate * q[1]))
- socket_send_int(floor(MULT_jointstate * q[2]))
- socket_send_int(floor(MULT_jointstate * q[3]))
- socket_send_int(floor(MULT_jointstate * q[4]))
- socket_send_int(floor(MULT_jointstate * q[5]))
- socket_send_int(floor(MULT_jointstate * qdot[0]))
- socket_send_int(floor(MULT_jointstate * qdot[1]))
- socket_send_int(floor(MULT_jointstate * qdot[2]))
- socket_send_int(floor(MULT_jointstate * qdot[3]))
- socket_send_int(floor(MULT_jointstate * qdot[4]))
- socket_send_int(floor(MULT_jointstate * qdot[5]))
- socket_send_int(floor(MULT_jointstate * tau[0]))
- socket_send_int(floor(MULT_jointstate * tau[1]))
- socket_send_int(floor(MULT_jointstate * tau[2]))
- socket_send_int(floor(MULT_jointstate * tau[3]))
- socket_send_int(floor(MULT_jointstate * tau[4]))
- socket_send_int(floor(MULT_jointstate * tau[5]))
- socket_send_int(MSG_WRENCH)
- socket_send_int(floor(MULT_wrench * wrench[0]))
- socket_send_int(floor(MULT_wrench * wrench[1]))
- socket_send_int(floor(MULT_wrench * wrench[2]))
- socket_send_int(floor(MULT_wrench * wrench[3]))
- socket_send_int(floor(MULT_wrench * wrench[4]))
- socket_send_int(floor(MULT_wrench * wrench[5]))
- socket_send_int(MSG_GET_IO)
- socket_send_int(1*get_digital_in(0) + 2*get_digital_in(1) + 4 * get_digital_in(2) + 8 * get_digital_in(3) + 16 * get_digital_in(4) + 32 * get_digital_in(5) + 64 * get_digital_in(6) + 128 * get_digital_in(7) + 256 * get_digital_in(8) + 512 * get_digital_in(9))
- socket_send_int(1*get_digital_out(0) + 2*get_digital_out(1) + 4 * get_digital_out(2) + 8 * get_digital_out(3) + 16 * get_digital_out(4) + 32 * get_digital_out(5) + 64 * get_digital_out(6) + 128 * get_digital_out(7) + 256 * get_digital_out(8) + 512 * get_digital_out(9))
- socket_send_int(pow(2,0)*get_flag(0) + pow(2,1)*get_flag(1) + pow(2,2)*get_flag(2) + pow(2,3)*get_flag(3) + pow(2,4)*get_flag(4) + pow(2,5)*get_flag(5) + pow(2,6)*get_flag(6) + pow(2,7)*get_flag(7) + pow(2,8)*get_flag(8) + pow(2,9)*get_flag(9) + pow(2,10)*get_flag(10) + pow(2,11)*get_flag(11) + pow(2,12)*get_flag(12) + pow(2,13)*get_flag(13) + pow(2,14)*get_flag(14) + pow(2,15)*get_flag(15) + pow(2,16)*get_flag(16) + pow(2,17)*get_flag(17) + pow(2,18)*get_flag(18) + pow(2,19)*get_flag(19) + pow(2,20)*get_flag(20) + pow(2,21)*get_flag(21) + pow(2,22)*get_flag(22) + pow(2,23)*get_flag(23) + pow(2,24)*get_flag(24) + pow(2,25)*get_flag(25) + pow(2,26)*get_flag(26) + pow(2,27)*get_flag(27) + pow(2,28)*get_flag(28) + pow(2,29)*get_flag(29) + pow(2,30)*get_flag(30) + pow(2,31)*get_flag(31) + pow(2,32)*get_flag(32))
- socket_send_int(get_analog_out(0)*1000000)
- socket_send_int(get_analog_out(1)*1000000)
- socket_send_int(get_analog_in(0)*1000000)
- socket_send_int(get_analog_in(1)*1000000)
- socket_send_int(get_analog_in(2)*1000000)
- socket_send_int(get_analog_in(3)*1000000)
- #socket_send_int(7895160) # Recognizable ".xxx" or 00787878
- exit_critical
- end
- #socket_open(HOSTNAME, 50002)
- send_joint_state()
- while True:
- send_joint_state()
- sync()
- end
- sync()
- end
+
SERVO_IDLE = 0
SERVO_RUNNING = 1
@@ -141,7 +90,6 @@ def driverProg():
socket_open(HOSTNAME, PORT)
send_out("hello")
- thread_state = run statePublisherThread()
thread_servo = run servoThread()
# Servoes in a circle
@@ -217,47 +165,57 @@ def driverProg():
#servoj(q, 3, 0.1, t)
#send_waypoint_finished(waypoint_id)
set_servo_setpoint(waypoint_id, q, t)
+ elif mtype == MSG_SET_PAYLOAD:
+ params = socket_read_binary_integer(1)
+ if params[0] == 0:
+ send_out("Received no parameters for setPayload message")
+ end
+
+ payload = params[1] / MULT_payload
+ #send_out(payload)
+ send_out("Received new payload")
+ set_payload(payload)
elif mtype == MSG_STOPJ:
send_out("Received stopj")
stopj(1.0)
elif mtype == MSG_SET_DIGITAL_OUT:
#send_out("Received Digital Out Signal")
# Reads the parameters
- params_mult = socket_read_binary_integer(1+6+1)
+ params_mult = socket_read_binary_integer(2)
if params_mult[0] == 0:
- send_out("Received no parameters for set_out message")
+ send_out("Received no parameters for set_digital_out message")
end
if params_mult[2] > 0:
- set_digital_out(params_mult[1], True)
+ set_digital_out(params_mult[1], True)
elif params_mult[2] == 0:
set_digital_out(params_mult[1], False)
end
elif mtype == MSG_SET_FLAG:
#send_out("Received Set Flag Signal")
# Reads the parameters
- params_mult = socket_read_binary_integer(1+6+1)
+ params_mult = socket_read_binary_integer(2)
if params_mult[0] == 0:
- send_out("Received no parameters for set_out message")
+ send_out("Received no parameters for set_flag message")
end
if params_mult[2] != 0:
- set_flag(params_mult[1], True)
+ set_flag(params_mult[1], True)
elif params_mult[2] == 0:
set_flag(params_mult[1], False)
end
elif mtype == MSG_SET_ANALOG_OUT:
#send_out("Received Analog Out Signal")
# Reads the parameters
- params_mult = socket_read_binary_integer(1+6+1)
+ params_mult = socket_read_binary_integer(2)
if params_mult[0] == 0:
- send_out("Received no parameters for set_out message")
+ send_out("Received no parameters for set_analog_out message")
end
- set_analog_out(params_mult[1], (params_mult[2] / 1000000))
+ set_analog_out(params_mult[1], (params_mult[2] / MULT_analog))
elif mtype == MSG_SET_TOOL_VOLTAGE:
#send_out("Received Tool Voltage Signal")
- # Reads the parameters
- params_mult = socket_read_binary_integer(1+6+1)
+ # Reads the parameters (also reads second dummy '0' integer)
+ params_mult = socket_read_binary_integer(2)
if params_mult[0] == 0:
- send_out("Received no parameters for set_out message")
+ send_out("Received no parameters for set_tool_voltage message")
end
set_tool_voltage(params_mult[1])
else:
@@ -266,8 +224,6 @@ def driverProg():
end
end
- #sleep(1)
- kill thread_state
socket_send_int(MSG_QUIT)
end
driverProg()
diff --git a/ur_driver/src/ur_driver/deserializeRT.py b/ur_driver/src/ur_driver/deserializeRT.py
new file mode 100644
index 0000000000000000000000000000000000000000..5fe97d779d67613fa47eb55d44668b228a66bb68
--- /dev/null
+++ b/ur_driver/src/ur_driver/deserializeRT.py
@@ -0,0 +1,118 @@
+import struct
+import copy
+
+class RobotStateRT(object):
+ __slots__ = ['time',
+ 'q_target', 'qd_target', 'qdd_target', 'i_target', 'm_target',
+ 'q_actual', 'qd_actual', 'i_actual', 'tool_acc_values',
+ 'unused',
+ 'tcp_force', 'tool_vector', 'tcp_speed',
+ 'digital_input_bits', 'motor_temperatures', 'controller_timer',
+ 'test_value',
+ 'robot_mode', 'joint_modes']
+
+ @staticmethod
+ def unpack(buf):
+ offset = 0
+ message_size = struct.unpack_from("!i", buf, offset)[0]
+ offset+=4
+ if message_size != len(buf):
+ print("MessageSize: ", message_size, "; BufferSize: ", len(buf))
+ raise Exception("Could not unpack RobotStateRT packet: length field is incorrect")
+
+ rs = RobotStateRT()
+ #time: 1x double (1x 8byte)
+ rs.time = struct.unpack_from("!d",buf, offset)[0]
+ offset+=8
+
+ #q_target: 6x double (6x 8byte)
+ all_values = list(struct.unpack_from("!dddddd",buf, offset))
+ offset+=6*8
+ rs.q_target = copy.deepcopy(all_values)
+
+ #qd_target: 6x double (6x 8byte)
+ all_values = list(struct.unpack_from("!dddddd",buf, offset))
+ offset+=6*8
+ rs.qd_target = copy.deepcopy(all_values)
+
+ #qdd_target: 6x double (6x 8byte)
+ all_values = list(struct.unpack_from("!dddddd",buf, offset))
+ offset+=6*8
+ rs.qdd_target = copy.deepcopy(all_values)
+
+ #i_target: 6x double (6x 8byte)
+ all_values = list(struct.unpack_from("!dddddd",buf, offset))
+ offset+=6*8
+ rs.i_target = copy.deepcopy(all_values)
+
+ #m_target: 6x double (6x 8byte)
+ all_values = list(struct.unpack_from("!dddddd",buf, offset))
+ offset+=6*8
+ rs.m_target = copy.deepcopy(all_values)
+
+ #q_actual: 6x double (6x 8byte)
+ all_values = list(struct.unpack_from("!dddddd",buf, offset))
+ offset+=6*8
+ rs.q_actual = copy.deepcopy(all_values)
+
+ #qd_actual: 6x double (6x 8byte)
+ all_values = list(struct.unpack_from("!dddddd",buf, offset))
+ offset+=6*8
+ rs.qd_actual = copy.deepcopy(all_values)
+
+ #i_actual: 6x double (6x 8byte)
+ all_values = list(struct.unpack_from("!dddddd",buf, offset))
+ offset+=6*8
+ rs.i_actual = copy.deepcopy(all_values)
+
+ #tool_acc_values: 3x double (3x 8byte)
+ all_values = list(struct.unpack_from("!ddd",buf, offset))
+ offset+=3*8
+ rs.tool_acc_values = copy.deepcopy(all_values)
+
+ #unused: 15x double (15x 8byte)
+ offset+=120
+ rs.unused = []
+
+ #tcp_force: 6x double (6x 8byte)
+ all_values = list(struct.unpack_from("!dddddd",buf, offset))
+ offset+=6*8
+ rs.tcp_force = copy.deepcopy(all_values)
+
+ #tool_vector: 6x double (6x 8byte)
+ all_values = list(struct.unpack_from("!dddddd",buf, offset))
+ offset+=6*8
+ rs.tool_vector = copy.deepcopy(all_values)
+
+ #tcp_speed: 6x double (6x 8byte)
+ all_values = list(struct.unpack_from("!dddddd",buf, offset))
+ offset+=6*8
+ rs.tcp_speed = copy.deepcopy(all_values)
+
+ #digital_input_bits: 1x double (1x 8byte) ?
+ rs.digital_input_bits = struct.unpack_from("!d",buf, offset)[0]
+ offset+=8
+
+ #motor_temperatures: 6x double (6x 8byte)
+ all_values = list(struct.unpack_from("!dddddd",buf, offset))
+ offset+=6*8
+ rs.motor_temperatures = copy.deepcopy(all_values)
+
+ #controller_timer: 1x double (1x 8byte)
+ rs.controller_timer = struct.unpack_from("!d",buf, offset)[0]
+ offset+=8
+
+ #test_value: 1x double (1x 8byte)
+ rs.test_value = struct.unpack_from("!d",buf, offset)[0]
+ offset+=8
+
+ #robot_mode: 1x double (1x 8byte)
+ rs.robot_mode = struct.unpack_from("!d",buf, offset)[0]
+ offset+=8
+
+ #joint_mode: 6x double (6x 8byte)
+ all_values = list(struct.unpack_from("!dddddd",buf, offset))
+ offset+=6*8
+ rs.joint_modes = copy.deepcopy(all_values)
+
+ return rs
diff --git a/ur_driver/src/ur_driver/driver.py b/ur_driver/src/ur_driver/driver.py
index b799bfc91848b7c00481f188a9d2f6967c65b7da..f7b92c1dbb35f5f12a51f3c877fe01c0058857bb 100755
--- a/ur_driver/src/ur_driver/driver.py
+++ b/ur_driver/src/ur_driver/driver.py
@@ -8,7 +8,6 @@ import struct
import traceback, code
import optparse
import SocketServer
-from BeautifulSoup import BeautifulSoup
import rospy
import actionlib
@@ -18,8 +17,9 @@ from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
from geometry_msgs.msg import WrenchStamped
from ur_driver.deserialize import RobotState, RobotMode
+from ur_driver.deserializeRT import RobotStateRT
-from ur_msgs.srv import SetIO
+from ur_msgs.srv import SetPayload, SetIO
from ur_msgs.msg import *
# renaming classes
@@ -36,8 +36,9 @@ prevent_programming = False
# q_actual = q_from_driver + offset
joint_offsets = {}
-PORT=30002
-DEFAULT_REVERSE_PORT = 50001
+PORT=30002 # 10 Hz, RobotState
+RT_PORT=30003 #125 Hz, RobotStateRT
+DEFAULT_REVERSE_PORT = 50001 #125 Hz, custom data (from prog)
MSG_OUT = 1
MSG_QUIT = 2
@@ -46,16 +47,26 @@ MSG_MOVEJ = 4
MSG_WAYPOINT_FINISHED = 5
MSG_STOPJ = 6
MSG_SERVOJ = 7
+MSG_SET_PAYLOAD = 8
MSG_WRENCH = 9
MSG_SET_DIGITAL_OUT = 10
MSG_GET_IO = 11
MSG_SET_FLAG = 12
MSG_SET_TOOL_VOLTAGE = 13
MSG_SET_ANALOG_OUT = 14
+MULT_payload = 1000.0
MULT_wrench = 10000.0
MULT_jointstate = 10000.0
MULT_time = 1000000.0
MULT_blend = 1000.0
+MULT_analog = 1000000.0
+MULT_analog_robotstate = 0.1
+
+#Bounds for SetPayload service
+MIN_PAYLOAD = 0.0
+MAX_PAYLOAD = 1.0
+#Using a very conservative value as it should be set throught the parameter server
+
FUN_SET_DIGITAL_OUT = 1
FUN_SET_FLAG = 2
@@ -75,6 +86,8 @@ Q3 = [1.5,-0.2,-1.57,0,0,0]
connected_robot = None
connected_robot_lock = threading.Lock()
connected_robot_cond = threading.Condition(connected_robot_lock)
+last_joint_states = None
+last_joint_states_lock = threading.Lock()
pub_joint_states = rospy.Publisher('joint_states', JointState, queue_size=1)
pub_wrench = rospy.Publisher('wrench', WrenchStamped, queue_size=1)
pub_io_states = rospy.Publisher('io_states', IOStates, queue_size=1)
@@ -178,22 +191,40 @@ class URConnection(object):
rospy.logfatal("Real robot is no longer enabled. Driver is fuxored")
time.sleep(2)
sys.exit(1)
-
- # If the urscript program is not executing, then the driver
- # needs to publish joint states using information from the
- # robot state packet.
- if self.robot_state != self.EXECUTING:
- msg = JointState()
- msg.header.stamp = rospy.get_rostime()
- msg.header.frame_id = "From binary state data"
- msg.name = joint_names
- msg.position = [0.0] * 6
- for i, jd in enumerate(state.joint_data):
- msg.position[i] = jd.q_actual + joint_offsets.get(joint_names[i], 0.0)
- msg.velocity = [jd.qd_actual for jd in state.joint_data]
- msg.effort = [0]*6
- pub_joint_states.publish(msg)
- self.last_joint_states = msg
+
+ ###
+ # IO-Support is EXPERIMENTAL
+ #
+ # Notes:
+ # - Where are the flags coming from? Do we need flags? No, as 'prog' does not use them and other scripts are not running!
+ # - analog_input2 and analog_input3 are within ToolData
+ # - What to do with the different analog_input/output_range/domain?
+ # - Shall we have appropriate ur_msgs definitions in order to reflect MasterboardData, ToolData,...?
+ ###
+
+ # Use information from the robot state packet to publish IOStates
+ msg = IOStates()
+ #gets digital in states
+ for i in range(0, 10):
+ msg.digital_in_states.append(DigitalIn(i, (state.masterboard_data.digital_input_bits & (1<<i))>>i))
+ #gets digital out states
+ for i in range(0, 10):
+ msg.digital_out_states.append(DigitalOut(i, (state.masterboard_data.digital_output_bits & (1<<i))>>i))
+ #gets analog_in[0] state
+ inp = state.masterboard_data.analog_input0 / MULT_analog_robotstate
+ msg.analog_in_states.append(Analog(0, inp))
+ #gets analog_in[1] state
+ inp = state.masterboard_data.analog_input1 / MULT_analog_robotstate
+ msg.analog_in_states.append(Analog(1, inp))
+ #gets analog_out[0] state
+ inp = state.masterboard_data.analog_output0 / MULT_analog_robotstate
+ msg.analog_out_states.append(Analog(0, inp))
+ #gets analog_out[1] state
+ inp = state.masterboard_data.analog_output1 / MULT_analog_robotstate
+ msg.analog_out_states.append(Analog(1, inp))
+ #print "Publish IO-Data from robot state data"
+ pub_io_states.publish(msg)
+
# Updates the state machine that determines whether we can program the robot.
can_execute = (state.robot_mode_data.robot_mode in [RobotMode.READY, RobotMode.RUNNING])
@@ -231,11 +262,114 @@ class URConnection(object):
if more:
self.__buf = self.__buf + more
- # Attempts to extract a packet
- packet_length, ptype = struct.unpack_from("!IB", self.__buf)
- if len(self.__buf) >= packet_length:
- packet, self.__buf = self.__buf[:packet_length], self.__buf[packet_length:]
- self.__on_packet(packet)
+ #unpack_from requires a buffer of at least 48 bytes
+ while len(self.__buf) >= 48:
+ # Attempts to extract a packet
+ packet_length, ptype = struct.unpack_from("!IB", self.__buf)
+ #print("PacketLength: ", packet_length, "; BufferSize: ", len(self.__buf))
+ if len(self.__buf) >= packet_length:
+ packet, self.__buf = self.__buf[:packet_length], self.__buf[packet_length:]
+ self.__on_packet(packet)
+ else:
+ break
+
+ else:
+ self.__trigger_disconnected()
+ self.__keep_running = False
+
+ else:
+ self.__trigger_disconnected()
+ self.__keep_running = False
+
+
+class URConnectionRT(object):
+ TIMEOUT = 1.0
+
+ DISCONNECTED = 0
+ CONNECTED = 1
+
+ def __init__(self, hostname, port):
+ self.__thread = None
+ self.__sock = None
+ self.robot_state = self.DISCONNECTED
+ self.hostname = hostname
+ self.port = port
+ self.last_stateRT = None
+
+ def connect(self):
+ if self.__sock:
+ self.disconnect()
+ self.__buf = ""
+ self.robot_state = self.CONNECTED
+ self.__sock = socket.create_connection((self.hostname, self.port))
+ self.__keep_running = True
+ self.__thread = threading.Thread(name="URConnectionRT", target=self.__run)
+ self.__thread.daemon = True
+ self.__thread.start()
+
+ def disconnect(self):
+ if self.__thread:
+ self.__keep_running = False
+ self.__thread.join()
+ self.__thread = None
+ if self.__sock:
+ self.__sock.close()
+ self.__sock = None
+ self.last_state = None
+ self.robot_state = self.DISCONNECTED
+
+ def __trigger_disconnected(self):
+ log("Robot disconnected")
+ self.robot_state = self.DISCONNECTED
+
+ def __on_packet(self, buf):
+ global last_joint_states, last_joint_states_lock
+ now = rospy.get_rostime()
+ stateRT = RobotStateRT.unpack(buf)
+ self.last_stateRT = stateRT
+
+ msg = JointState()
+ msg.header.stamp = now
+ msg.header.frame_id = "From real-time state data"
+ msg.name = joint_names
+ msg.position = [0.0] * 6
+ for i, q in enumerate(stateRT.q_actual):
+ msg.position[i] = q + joint_offsets.get(joint_names[i], 0.0)
+ msg.velocity = stateRT.qd_actual
+ msg.effort = [0]*6
+ pub_joint_states.publish(msg)
+ with last_joint_states_lock:
+ last_joint_states = msg
+
+ wrench_msg = WrenchStamped()
+ wrench_msg.header.stamp = now
+ wrench_msg.wrench.force.x = stateRT.tcp_force[0]
+ wrench_msg.wrench.force.y = stateRT.tcp_force[1]
+ wrench_msg.wrench.force.z = stateRT.tcp_force[2]
+ wrench_msg.wrench.torque.x = stateRT.tcp_force[3]
+ wrench_msg.wrench.torque.y = stateRT.tcp_force[4]
+ wrench_msg.wrench.torque.z = stateRT.tcp_force[5]
+ pub_wrench.publish(wrench_msg)
+
+
+ def __run(self):
+ while self.__keep_running:
+ r, _, _ = select.select([self.__sock], [], [], self.TIMEOUT)
+ if r:
+ more = self.__sock.recv(4096)
+ if more:
+ self.__buf = self.__buf + more
+
+ #unpack_from requires a buffer of at least 48 bytes
+ while len(self.__buf) >= 48:
+ # Attempts to extract a packet
+ packet_length = struct.unpack_from("!i", self.__buf)[0]
+ #print("PacketLength: ", packet_length, "; BufferSize: ", len(self.__buf))
+ if len(self.__buf) >= packet_length:
+ packet, self.__buf = self.__buf[:packet_length], self.__buf[packet_length:]
+ self.__on_packet(packet)
+ else:
+ break
else:
self.__trigger_disconnected()
self.__keep_running = False
@@ -265,6 +399,7 @@ def getConnectedRobot(wait=False, timeout=-1):
class CommanderTCPHandler(SocketServer.BaseRequestHandler):
def recv_more(self):
+ global last_joint_states, last_joint_states_lock
while True:
r, _, _ = select.select([self.request], [], [], 0.2)
if r:
@@ -274,15 +409,14 @@ class CommanderTCPHandler(SocketServer.BaseRequestHandler):
return more
else:
now = rospy.get_rostime()
- if self.last_joint_states and \
- self.last_joint_states.header.stamp < now - rospy.Duration(1.0):
+ if last_joint_states and \
+ last_joint_states.header.stamp < now - rospy.Duration(1.0):
rospy.logerr("Stopped hearing from robot (last heard %.3f sec ago). Disconnected" % \
- (now - self.last_joint_states.header.stamp).to_sec())
+ (now - last_joint_states.header.stamp).to_sec())
raise EOF()
def handle(self):
self.socket_lock = threading.Lock()
- self.last_joint_states = None
setConnectedRobot(self)
print "Handling a request"
try:
@@ -307,110 +441,7 @@ class CommanderTCPHandler(SocketServer.BaseRequestHandler):
raise Exception("Probably forgot to terminate a string: %s..." % buf[:150])
s, buf = buf[:i], buf[i+1:]
log("Out: %s" % s)
-
- elif mtype == MSG_JOINT_STATES:
- while len(buf) < 3*(6*4):
- buf = buf + self.recv_more()
- state_mult = struct.unpack_from("!%ii" % (3*6), buf, 0)
- buf = buf[3*6*4:]
- state = [s / MULT_jointstate for s in state_mult]
-
- msg = JointState()
- msg.header.stamp = rospy.get_rostime()
- msg.name = joint_names
- msg.position = [0.0] * 6
- for i, q_meas in enumerate(state[:6]):
- msg.position[i] = q_meas + joint_offsets.get(joint_names[i], 0.0)
- msg.velocity = state[6:12]
- msg.effort = state[12:18]
- self.last_joint_states = msg
- pub_joint_states.publish(msg)
-
- elif mtype == MSG_WRENCH:
- while len(buf) < (6*4):
- buf = buf + self.recv_more()
- state_mult = struct.unpack_from("!%ii" % (6), buf, 0)
- buf = buf[6*4:]
- state = [s / MULT_wrench for s in state_mult]
- wrench_msg = WrenchStamped()
- wrench_msg.header.stamp = rospy.get_rostime()
- wrench_msg.wrench.force.x = state[0]
- wrench_msg.wrench.force.y = state[1]
- wrench_msg.wrench.force.z = state[2]
- wrench_msg.wrench.torque.x = state[3]
- wrench_msg.wrench.torque.y = state[4]
- wrench_msg.wrench.torque.z = state[5]
- pub_wrench.publish(wrench_msg)
-
- #gets all IO States and publishes them into a message
- elif mtype == MSG_GET_IO:
-
- #gets digital in states
- while len(buf) < 4:
- buf = buf + self.recv_more()
- inp = struct.unpack_from("!i", buf, 0)[0]
- buf = buf[4:]
- msg = IOStates()
- for i in range(0, 10):
- msg.digital_in_states.append(DigitalIn(i, (inp & (1<<i))>>i))
- #gets digital out states
- while len(buf) < 4:
- buf = buf + self.recv_more()
- inp = struct.unpack_from("!i", buf, 0)[0]
- buf = buf[4:]
- for i in range(0, 10):
- msg.digital_out_states.append(DigitalOut(i, (inp & (1<<i))>>i))
- #gets flag states
- while len(buf) < 4:
- buf = buf + self.recv_more()
- inp = struct.unpack_from("!i", buf, 0)[0]
- buf = buf[4:]
- for i in range(0, 32):
- msg.flag_states.append(Flag(i, (inp & (1<<i))>>i))
- #gets analog_out[0] state
- while len(buf) < 4:
- buf = buf + self.recv_more()
- inp = struct.unpack_from("!i", buf, 0)[0]
- inp /= 1000000.0
- buf = buf[4:]
- msg.analog_out_states.append(Analog(0, inp))
- #gets analog_out[1] state
- while len(buf) < 4:
- buf = buf + self.recv_more()
- inp = struct.unpack_from("!i", buf, 0)[0]
- inp /= 1000000.0
- buf = buf[4:]
- msg.analog_out_states.append(Analog(1, inp))
- #gets analog_in[0] state
- while len(buf) < 4:
- buf = buf + self.recv_more()
- inp = struct.unpack_from("!i", buf, 0)[0]
- inp /= 1000000.0
- buf = buf[4:]
- msg.analog_in_states.append(Analog(0, inp))
- #gets analog_in[1] state
- while len(buf) < 4:
- buf = buf + self.recv_more()
- inp = struct.unpack_from("!i", buf, 0)[0]
- inp /= 1000000.0
- buf = buf[4:]
- msg.analog_in_states.append(Analog(1, inp))
- #gets analog_in[2] state
- while len(buf) < 4:
- buf = buf + self.recv_more()
- inp = struct.unpack_from("!i", buf, 0)[0]
- inp /= 1000000.0
- buf = buf[4:]
- msg.analog_in_states.append(Analog(2, inp))
- #gets analog_in[3] state
- while len(buf) < 4:
- buf = buf + self.recv_more()
- inp = struct.unpack_from("!i", buf, 0)[0]
- inp /= 1000000.0
- buf = buf[4:]
- msg.analog_in_states.append(Analog(3, inp))
- pub_io_states.publish(msg)
-
+
elif mtype == MSG_QUIT:
print "Quitting"
raise EOF("Received quit")
@@ -432,7 +463,7 @@ class CommanderTCPHandler(SocketServer.BaseRequestHandler):
def send_quit(self):
with self.socket_lock:
self.request.send(struct.pack("!i", MSG_QUIT))
-
+
def send_servoj(self, waypoint_id, q_actual, t):
assert(len(q_actual) == 6)
q_robot = [0.0] * 6
@@ -444,6 +475,12 @@ class CommanderTCPHandler(SocketServer.BaseRequestHandler):
buf = struct.pack("!%ii" % len(params), *params)
with self.socket_lock:
self.request.send(buf)
+
+ #Experimental set_payload implementation
+ def send_payload(self,payload):
+ buf = struct.pack('!ii', MSG_SET_PAYLOAD, payload * MULT_payload)
+ with self.socket_lock:
+ self.request.send(buf)
#Experimental set_digital_output implementation
def set_digital_out(self, pinnum, value):
@@ -459,7 +496,7 @@ class CommanderTCPHandler(SocketServer.BaseRequestHandler):
def set_analog_out(self, pinnum, value):
params = [MSG_SET_ANALOG_OUT] + \
[pinnum] + \
- [value * 1000000]
+ [value * MULT_analog]
buf = struct.pack("!%ii" % len(params), *params)
#print params
with self.socket_lock:
@@ -474,7 +511,7 @@ class CommanderTCPHandler(SocketServer.BaseRequestHandler):
#print params
with self.socket_lock:
self.request.send(buf)
- time.sleep(IO_SLEEP_TIME+.5)
+ time.sleep(IO_SLEEP_TIME)
def set_flag(self, pin, val):
params = [MSG_SET_FLAG] + \
@@ -496,7 +533,8 @@ class CommanderTCPHandler(SocketServer.BaseRequestHandler):
# Returns the last JointState message sent out
def get_joint_states(self):
- return self.last_joint_states
+ global last_joint_states, last_joint_states_lock
+ return last_joint_states
class TCPServer(SocketServer.TCPServer):
@@ -594,6 +632,25 @@ def within_tolerance(a_vec, b_vec, tol_vec):
return False
return True
+class URServiceProvider(object):
+ def __init__(self, robot):
+ self.robot = robot
+ rospy.Service('ur_driver/setPayload', SetPayload, self.setPayload)
+
+ def set_robot(self, robot):
+ self.robot = robot
+
+ def setPayload(self, req):
+ if req.payload < min_payload or req.payload > max_payload:
+ print 'ERROR: Payload ' + str(req.payload) + ' out of bounds (' + str(min_payload) + ', ' + str(max_payload) + ')'
+ return False
+
+ if self.robot:
+ self.robot.send_payload(req.payload)
+ else:
+ return False
+ return True
+
class URTrajectoryFollower(object):
RATE = 0.02
def __init__(self, robot, goal_time_tolerance=None):
@@ -781,20 +838,28 @@ class URTrajectoryFollower(object):
# self.goal_handle.set_aborted(text="Took too long to reach the goal")
# self.goal_handle = None
+
# joint_names: list of joints
#
# returns: { "joint_name" : joint_offset }
def load_joint_offsets(joint_names):
+ from lxml import etree
robot_description = rospy.get_param("robot_description")
- soup = BeautifulSoup(robot_description)
-
+ doc = etree.fromstring(robot_description)
+
+ # select only 'calibration_offset' elements whose parent is a joint
+ # element with a specific value for the name attribute
+ expr = "/robot/joint[@name=$name]/calibration_offset"
result = {}
for joint in joint_names:
- try:
- joint_elt = soup.find('joint', attrs={'name': joint})
- calibration_offset = float(joint_elt.calibration_offset["value"])
+ joint_elt = doc.xpath(expr, name=joint)
+ if len(joint_elt) == 1:
+ calibration_offset = float(joint_elt[0].get("value"))
result[joint] = calibration_offset
- except Exception, ex:
+ rospy.loginfo("Found calibration offset for joint \"%s\": %.4f" % (joint, calibration_offset))
+ elif len(joint_elt) > 1:
+ rospy.logerr("Too many joints matched on \"%s\". Please report to package maintainer(s)." % joint)
+ else:
rospy.logwarn("No calibration offset for joint \"%s\"" % joint)
return result
@@ -855,11 +920,23 @@ def main():
# Reads the calibrated joint offsets from the URDF
global joint_offsets
joint_offsets = load_joint_offsets(joint_names)
- rospy.logerr("Loaded calibration offsets: %s" % joint_offsets)
+ if len(joint_offsets) > 0:
+ rospy.loginfo("Loaded calibration offsets from urdf: %s" % joint_offsets)
+ else:
+ rospy.loginfo("No calibration offsets loaded from urdf")
# Reads the maximum velocity
global max_velocity
max_velocity = rospy.get_param("~max_velocity", 2.0)
+
+ # Reads the minimum payload
+ global min_payload
+ min_payload = rospy.get_param("~min_payload", MIN_PAYLOAD)
+ # Reads the maximum payload
+ global max_payload
+ max_payload = rospy.get_param("~max_payload", MAX_PAYLOAD)
+ rospy.loginfo("Bounds for Payload: [%s, %s]" % (min_payload, max_payload))
+
# Sets up the server for the robot to connect to
server = TCPServer(("", reverse_port), CommanderTCPHandler)
@@ -873,8 +950,12 @@ def main():
connection.connect()
connection.send_reset_program()
+ connectionRT = URConnectionRT(robot_hostname, RT_PORT)
+ connectionRT.connect()
+
set_io_server()
-
+
+ service_provider = None
action_server = None
try:
while not rospy.is_shutdown():
@@ -904,6 +985,12 @@ def main():
break
rospy.loginfo("Robot connected")
+ #provider for service calls
+ if service_provider:
+ service_provider.set_robot(r)
+ else:
+ service_provider = URServiceProvider(r)
+
if action_server:
action_server.set_robot(r)
else:
diff --git a/ur_driver/src/ur_driver/io_interface.py b/ur_driver/src/ur_driver/io_interface.py
index a7fa6d7ba65bdb9ac2509fdf4937a9076afbf0de..e78c0b4236aae3c773debffabf4db4ce96e2eb4c 100644
--- a/ur_driver/src/ur_driver/io_interface.py
+++ b/ur_driver/src/ur_driver/io_interface.py
@@ -10,49 +10,50 @@ FUN_SET_FLAG = 2
FUN_SET_ANALOG_OUT = 3
FUN_SET_TOOL_VOLTAGE = 4
-Flag_States = [0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
-Digital_Out_States = [0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
-Digital_In_States = [0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
-Analog_Out_States = [0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
-Analog_In_States = [0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
+#Flag_States = [0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
+Digital_Out_States = [0,0,0,0,0,0,0,0,0,0] #8(controller)+2(tool)
+Digital_In_States = [0,0,0,0,0,0,0,0,0,0] #8(controller)+2(tool)
+Analog_Out_States = [0,0] #2(controller)
+Analog_In_States = [0,0] #2(controller)+0(tool)
ANALOG_TOLERANCE_VALUE = 0.01
-DELAY_TIME = 0.3
-i = 0
-set_io = rospy.ServiceProxy('set_io', SetIO)
def set_io_val(fun, pin, val):
- rospy.wait_for_service('set_io')
try:
set_io(fun, pin, val)
except rospy.ServiceException, e:
print "Service call failed: %s"%e
def set_tool_voltage(volts):
- set_io_val(FUN_SET_TOOL_VOLTAGE, volts, 0)
+ try:
+ set_io(FUN_SET_TOOL_VOLTAGE, volts, 0)
+ except rospy.ServiceException, e:
+ print "Service call failed: %s"%e
def set_digital_out(pin, val):
- set_io_val(FUN_SET_DIGITAL_OUT, pin, val)
- if Digital_Out_States[pin] != val:
- rospy.logwarn("DIGITAL OUT IS NOT A HAPPY CAMPER, its not setting a pin on the first try, it may help to increase IO_SLEEP_TIME in driver.py")
- set_digital_out(pin, val)
+ try:
+ set_io(FUN_SET_DIGITAL_OUT, pin, val)
+ except rospy.ServiceException, e:
+ print "Service call failed: %s"%e
def set_analog_out(pin, val):
- set_io_val(FUN_SET_ANALOG_OUT, pin, val)
- if abs(Analog_Out_States[pin] - val) > ANALOG_TOLERANCE_VALUE:
- rospy.logwarn("ANALOG OUT IS NOT A HAPPY CAMPER, its not setting a pin on the first try, it may help to increase IO_SLEEP_TIME in driver.py")
- set_digital_out(pin, val)
+ try:
+ set_io(FUN_SET_ANALOG_OUT, pin, val)
+ except rospy.ServiceException, e:
+ print "Service call failed: %s"%e
def set_flag(pin, val):
- set_io_val(FUN_SET_FLAG, pin, val)
- if Flag_States[pin] != val:
- rospy.logwarn("SETTING A FLAG IS NOT A HAPPY CAMPER, its not setting a pin on the first try, it may help to increase IO_SLEEP_TIME in driver.py")
- set_digital_out(pin, val)
+ rospy.logerr("SETTING FLAGS IS NOT SUPPORTED!")
+ #try:
+ #set_io(FUN_SET_FLAG, pin, val)
+ #except rospy.ServiceException, e:
+ #print "Service call failed: %s"%e
def callback(data):
- for i in range(0,32):
- del Flag_States[i]
- Flag_States.insert(i, data.flag_states[i].state)
+ rospy.logerr("Flag_States are currently not supported")
+ #for i in range(0,32):
+ #del Flag_States[i]
+ #Flag_States.insert(i, data.flag_states[i].state)
for i in range(0,10):
del Digital_Out_States[i]
Digital_Out_States.insert(i, data.digital_out_states[i].state)
@@ -62,11 +63,17 @@ def callback(data):
for i in range(0,2):
del Analog_Out_States[i]
Analog_Out_States.insert(i, data.analog_out_states[i].state)
- for i in range(0,4):
+ rospy.logerr("ToolInput analog_in[2] and analog_in[3] currently not supported")
+ for i in range(0,2):
del Analog_In_States[i]
Analog_In_States.insert(i, data.analog_in_states[i].state)
def get_states():
rospy.init_node('UR_State_Getter')
rospy.Subscriber("io_states", IOStates, callback)
+
+def set_states():
+ rospy.wait_for_service('set_io')
+ global set_io
+ set_io = rospy.ServiceProxy('set_io', SetIO)
diff --git a/ur_driver/src/ur_driver/testRT_comm.py b/ur_driver/src/ur_driver/testRT_comm.py
new file mode 100755
index 0000000000000000000000000000000000000000..11daffa671c905c3243f894e9259a9c5000abe8b
--- /dev/null
+++ b/ur_driver/src/ur_driver/testRT_comm.py
@@ -0,0 +1,98 @@
+#!/usr/bin/env python
+import roslib; roslib.load_manifest('ur_driver')
+import time, sys, threading, math
+import copy
+import datetime
+import socket, select
+import struct
+import traceback, code
+import SocketServer
+
+import rospy
+
+from sensor_msgs.msg import JointState
+from ur_driver.deserializeRT import RobotStateRT
+from ur_msgs.msg import *
+
+
+joint_names = ['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint',
+ 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint']
+joint_offsets = {}
+
+
+def __on_packet(buf):
+ stateRT = RobotStateRT.unpack(buf)
+
+ msg = RobotStateRTMsg()
+ msg.time = stateRT.time
+ msg.q_target = stateRT.q_target
+ msg.qd_target = stateRT.qd_target
+ msg.qdd_target = stateRT.qdd_target
+ msg.i_target = stateRT.i_target
+ msg.m_target = stateRT.m_target
+ msg.q_actual = stateRT.q_actual
+ msg.qd_actual = stateRT.qd_actual
+ msg.i_actual = stateRT.i_actual
+ msg.tool_acc_values = stateRT.tool_acc_values
+ msg.tcp_force = stateRT.tcp_force
+ msg.tool_vector = stateRT.tool_vector
+ msg.tcp_speed = stateRT.tcp_speed
+ msg.digital_input_bits = stateRT.digital_input_bits
+ msg.motor_temperatures = stateRT.motor_temperatures
+ msg.controller_timer = stateRT.controller_timer
+ msg.test_value = stateRT.test_value
+ msg.robot_mode = stateRT.robot_mode
+ msg.joint_modes = stateRT.joint_modes
+ pub_robot_stateRT.publish(msg)
+
+
+ msg = JointState()
+ msg.header.stamp = rospy.get_rostime()
+ msg.header.frame_id = "From real-time state data"
+ msg.name = joint_names
+ msg.position = [0.0] * 6
+ for i, q in enumerate(stateRT.q_actual):
+ msg.position[i] = q + joint_offsets.get(joint_names[i], 0.0)
+ msg.velocity = stateRT.qd_actual
+ msg.effort = [0]*6
+ pub_joint_statesRT.publish(msg)
+
+
+
+
+def main():
+ rospy.init_node('testRT_comm', disable_signals=True)
+
+ global pub_joint_statesRT
+ pub_joint_statesRT = rospy.Publisher('joint_statesRT', JointState, queue_size=1)
+ global pub_robot_stateRT
+ pub_robot_stateRT = rospy.Publisher('robot_stateRT', RobotStateRTMsg, queue_size=1)
+
+
+
+ robot_hostname = '192.168.0.42'
+ rt_port = 30003
+
+ rt_socket = socket.create_connection((robot_hostname, rt_port))
+ buf = ""
+
+ while not rospy.is_shutdown():
+ more = rt_socket.recv(4096)
+ if more:
+ buf = buf + more
+
+ # Attempts to extract a packet
+ packet_length = struct.unpack_from("!i", buf)[0]
+ print("PacketLength: ", packet_length, "; BufferSize: ", len(buf))
+ if len(buf) >= packet_length:
+ packet, buf = buf[:packet_length], buf[packet_length:]
+ __on_packet(packet)
+ else:
+ print("There is no more...")
+
+ rt_socket.close()
+
+
+
+
+if __name__ == '__main__': main()
diff --git a/ur_driver/src/ur_driver/test_comm.py b/ur_driver/src/ur_driver/test_comm.py
new file mode 100755
index 0000000000000000000000000000000000000000..1670db8521f0b862287d44ad6b0e75c09a34dbc3
--- /dev/null
+++ b/ur_driver/src/ur_driver/test_comm.py
@@ -0,0 +1,120 @@
+#!/usr/bin/env python
+import roslib; roslib.load_manifest('ur_driver')
+import time, sys, threading, math
+import copy
+import datetime
+import socket, select
+import struct
+import traceback, code
+import SocketServer
+
+import rospy
+
+from sensor_msgs.msg import JointState
+from ur_driver.deserialize import RobotState
+from ur_msgs.msg import *
+
+# renaming classes
+DigitalIn = Digital
+DigitalOut = Digital
+Flag = Digital
+
+MULT_analog = 1000000.0
+MULT_analog_robotstate = 0.1
+
+joint_names = ['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint',
+ 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint']
+joint_offsets = {}
+
+
+def __on_packet(buf):
+ state = RobotState.unpack(buf)
+
+ mb_msg = MasterboardDataMsg()
+ mb_msg.digital_input_bits = state.masterboard_data.digital_input_bits
+ mb_msg.digital_output_bits = state.masterboard_data.digital_output_bits
+ mb_msg.analog_input_range0 = state.masterboard_data.analog_input_range0
+ mb_msg.analog_input_range1 = state.masterboard_data.analog_input_range1
+ mb_msg.analog_input0 = state.masterboard_data.analog_input0
+ mb_msg.analog_input1 = state.masterboard_data.analog_input1
+ mb_msg.analog_output_domain0 = state.masterboard_data.analog_output_domain0
+ mb_msg.analog_output_domain1 = state.masterboard_data.analog_output_domain1
+ mb_msg.analog_output0 = state.masterboard_data.analog_output0
+ mb_msg.analog_output1 = state.masterboard_data.analog_output1
+ mb_msg.masterboard_temperature = state.masterboard_data.masterboard_temperature
+ mb_msg.robot_voltage_48V = state.masterboard_data.robot_voltage_48V
+ mb_msg.robot_current = state.masterboard_data.robot_current
+ mb_msg.master_io_current = state.masterboard_data.master_io_current
+ mb_msg.master_safety_state = state.masterboard_data.master_safety_state
+ mb_msg.master_onoff_state = state.masterboard_data.master_onoff_state
+ pub_masterboard_state.publish(mb_msg)
+
+
+ # Use information from the robot state packet to publish IOStates
+ msg = IOStates()
+ #gets digital in states
+ for i in range(0, 10):
+ msg.digital_in_states.append(DigitalIn(i, (state.masterboard_data.digital_input_bits & (1<<i))>>i))
+ #gets digital out states
+ for i in range(0, 10):
+ msg.digital_out_states.append(DigitalOut(i, (state.masterboard_data.digital_output_bits & (1<<i))>>i))
+ #gets analog_in[0] state
+ inp = state.masterboard_data.analog_input0 / MULT_analog_robotstate
+ msg.analog_in_states.append(Analog(0, inp))
+ #gets analog_in[1] state
+ inp = state.masterboard_data.analog_input1 / MULT_analog_robotstate
+ msg.analog_in_states.append(Analog(1, inp))
+ #gets analog_out[0] state
+ inp = state.masterboard_data.analog_output0 / MULT_analog_robotstate
+ msg.analog_out_states.append(Analog(0, inp))
+ #gets analog_out[1] state
+ inp = state.masterboard_data.analog_output1 / MULT_analog_robotstate
+ msg.analog_out_states.append(Analog(1, inp))
+ #print "Publish IO-Data from robot state data"
+ pub_io_states.publish(msg)
+
+ # Notes:
+ # - Where are the flags coming from? Do we need flags? No, as 'prog' does not use them and other scripts are not running!
+ # - analog_input2 and analog_input3 are within ToolData
+ # - What to do with the different analog_input/output_range/domain?
+ # - Shall we have appropriate ur_msgs definitions in order to reflect MasterboardData, ToolData,...?
+
+
+
+
+
+def main():
+ rospy.init_node('test_comm', disable_signals=True)
+
+ global pub_masterboard_state
+ pub_masterboard_state = rospy.Publisher('masterboard_state', MasterboardDataMsg, queue_size=1)
+ global pub_io_states
+ pub_io_states = rospy.Publisher('io_states', IOStates, queue_size=1)
+
+
+ robot_hostname = '192.168.0.42'
+ port = 30002
+
+ test_socket = socket.create_connection((robot_hostname, port))
+ buf = ""
+
+ while not rospy.is_shutdown():
+ more = test_socket.recv(4096)
+ if more:
+ buf = buf + more
+
+ # Attempts to extract a packet
+ packet_length = struct.unpack_from("!i", buf)[0]
+ print("PacketLength: ", packet_length, "; BufferSize: ", len(buf))
+ if len(buf) >= packet_length:
+ packet, buf = buf[:packet_length], buf[packet_length:]
+ __on_packet(packet)
+ else:
+ print("There is no more...")
+
+ test_socket.close()
+
+
+
+
+if __name__ == '__main__': main()
diff --git a/ur_driver/test_io.py b/ur_driver/test_io.py
index 1d62d1703f8026e7d31ae11c20cda9352a45c358..7b3c2a82686bbea6d30a6b8b57becabaf7359fe7 100755
--- a/ur_driver/test_io.py
+++ b/ur_driver/test_io.py
@@ -3,23 +3,27 @@ import time
from ur_driver.io_interface import *
if __name__ == "__main__":
- print "toggling things"
+ print "testing io-interface"
get_states()
print "listener has been activated"
+ set_states()
+ print "service-server has been started"
while(True):
set_tool_voltage(12)
set_digital_out(0, True)
set_analog_out(0, 0.75)
- set_flag(0, True)
- print(Flag_States[0])
+ #print "Flags are currently not supported"
+ ##set_flag(0, True)
+ ##print(Flag_States[0])
print(Analog_Out_States[0])
print(Digital_Out_States[0])
time.sleep(1)
set_tool_voltage(24)
set_digital_out(0, False)
set_analog_out(0, 0.25)
- set_flag(0, False)
- print(Flag_States[0])
+ #print "Flags are currently not supported"
+ ##set_flag(0, False)
+ ##print(Flag_States[0])
print(Analog_Out_States[0])
print(Digital_Out_States[0])
time.sleep(1)
diff --git a/ur_kinematics/CMakeLists.txt b/ur_kinematics/CMakeLists.txt
index 3b833e9afc860ddf14fcb3da34d91027b1f6aced..2efac4507a8ba8d54543227a5a42f68715e1584b 100644
--- a/ur_kinematics/CMakeLists.txt
+++ b/ur_kinematics/CMakeLists.txt
@@ -1,75 +1,27 @@
cmake_minimum_required(VERSION 2.8.3)
project(ur_kinematics)
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS roscpp geometry_msgs moveit_core moveit_ros_planning pluginlib tf_conversions)
+find_package(catkin REQUIRED COMPONENTS roscpp geometry_msgs moveit_core
+ moveit_ros_planning pluginlib tf_conversions)
-## System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS system)
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-#######################################
-## Declare ROS messages and services ##
-#######################################
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-# FILES
-# Message1.msg
-# Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-# FILES
-# Service1.srv
-# Service2.srv
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-# DEPENDENCIES
-# std_msgs # Or other packages containing msgs
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
INCLUDE_DIRS include
LIBRARIES ur10_kin ur5_kin ur10_moveit_plugin ur5_moveit_plugin
- CATKIN_DEPENDS pluginlib moveit_core
-# CATKIN_DEPENDS other_catkin_pkg
-# DEPENDS system_lib
+ CATKIN_DEPENDS roscpp geometry_msgs moveit_core moveit_ros_planning
+ pluginlib tf_conversions
+ DEPENDS boost
)
+
###########
## Build ##
###########
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
include_directories(SYSTEM ${Boost_INCLUDE_DIR})
include_directories(include ${catkin_INCLUDE_DIRS})
-link_directories(${Boost_LIBRARY_DIRS})
-link_directories(${catkin_LIBRARY_DIRS})
-
-## Declare a cpp library
-# add_library(ur_kinematics
-# src/${PROJECT_NAME}/ur_kinematics.cpp
-# )
add_library(ur10_kin src/ur_kin.cpp)
set_target_properties(ur10_kin PROPERTIES COMPILE_DEFINITIONS "UR10_PARAMS")
@@ -78,29 +30,18 @@ set_target_properties(ur5_kin PROPERTIES COMPILE_DEFINITIONS "UR5_PARAMS")
add_library(ur10_moveit_plugin src/ur_moveit_plugin.cpp)
set_target_properties(ur10_moveit_plugin PROPERTIES COMPILE_DEFINITIONS "UR10_PARAMS")
-target_link_libraries(ur10_moveit_plugin
- ${catkin_LIBRARIES}
- ${Boost_LIBRARIES}
- ur10_kin)
+target_link_libraries(ur10_moveit_plugin
+ ${catkin_LIBRARIES}
+ ${Boost_LIBRARIES}
+ ur10_kin)
add_library(ur5_moveit_plugin src/ur_moveit_plugin.cpp)
set_target_properties(ur5_moveit_plugin PROPERTIES COMPILE_DEFINITIONS "UR5_PARAMS")
-target_link_libraries(ur5_moveit_plugin
- ${catkin_LIBRARIES}
- ${Boost_LIBRARIES}
- ur5_kin)
-
-## Declare a cpp executable
-# add_executable(ur_kinematics_node src/ur_kinematics_node.cpp)
-
-## Add cmake target dependencies of the executable/library
-## as an example, message headers may need to be generated before nodes
-# add_dependencies(ur_kinematics_node ur_kinematics_generate_messages_cpp)
+target_link_libraries(ur5_moveit_plugin
+ ${catkin_LIBRARIES}
+ ${Boost_LIBRARIES}
+ ur5_kin)
-## Specify libraries to link a library or executable target against
-# target_link_libraries(ur_kinematics_node
-# ${catkin_LIBRARIES}
-# )
#############
## Install ##
@@ -117,45 +58,7 @@ install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-# scripts/my_python_script
-# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables and/or libraries for installation
-# install(TARGETS ur_kinematics ur_kinematics_node
-# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-# FILES_MATCHING PATTERN "*.h"
-# PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-install(FILES
- ur_moveit_plugins.xml
+# install moveit plugin description file
+install(FILES ur_moveit_plugins.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_ur_kinematics.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
diff --git a/ur_kinematics/package.xml b/ur_kinematics/package.xml
index a0a2aaf326afd89066850818a6f906f37170a96e..2216dcd5a8414ee163e9e9cd934aaea954c82c76 100644
--- a/ur_kinematics/package.xml
+++ b/ur_kinematics/package.xml
@@ -3,47 +3,18 @@
<name>ur_kinematics</name>
<version>1.0.4</version>
<description>
- Provides forward and inverse kinematics for Universal robot designs.
+ Provides forward and inverse kinematics for Universal Robots designs.
See http://hdl.handle.net/1853/50782 for details.
</description>
- <!-- One maintainer tag required, multiple allowed, one person per tag -->
- <!-- Example: -->
- <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <maintainer email="aub@ipa.fhg.de">Alexander Bubeck</maintainer>
<maintainer email="kphawkins@gatech.edu">Kelsey Hawkins</maintainer>
-
-
- <!-- One license tag required, multiple allowed, one license per tag -->
- <!-- Commonly used license strings: -->
- <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>BSD</license>
-
-
- <!-- Url tags are optional, but mutiple are allowed, one per tag -->
- <!-- Optional attribute type can be: website, bugtracker, or repository -->
- <!-- Example: -->
- <!-- <url type="website">http://ros.org/wiki/ur_kinematics</url> -->
-
-
- <!-- Author tags are optional, mutiple are allowed, one per tag -->
- <!-- Authors do not have to be maintianers, but could be -->
- <!-- Example: -->
- <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+ <url type="website">http://wiki.ros.org/ur_kinematics</url>
+ <url type="bugtracker">https://github.com/ros-industrial/universal_robot/issues</url>
+ <url type="repository">https://github.com/ros-industrial/universal_robot</url>
<author email="kphawkins@gatech.edu">Kelsey Hawkins</author>
-
- <!-- The *_depend tags are used to specify dependencies -->
- <!-- Dependencies can be catkin packages or system dependencies -->
- <!-- Examples: -->
- <!-- Use build_depend for packages you need at compile time: -->
- <!-- <build_depend>message_generation</build_depend> -->
- <!-- Use buildtool_depend for build tool packages: -->
- <!-- <buildtool_depend>catkin</buildtool_depend> -->
- <!-- Use run_depend for packages you need at runtime: -->
- <!-- <run_depend>message_runtime</run_depend> -->
- <!-- Use test_depend for packages you need only for testing: -->
- <!-- <test_depend>gtest</test_depend> -->
-
<buildtool_depend>catkin</buildtool_depend>
<build_depend>moveit_core</build_depend>
@@ -52,6 +23,7 @@
<build_depend>geometry_msgs</build_depend>
<build_depend>pluginlib</build_depend>
<build_depend>tf_conversions</build_depend>
+ <build_depend>boost</build_depend>
<run_depend>moveit_core</run_depend>
<run_depend>moveit_ros_planning</run_depend>
@@ -59,9 +31,8 @@
<run_depend>geometry_msgs</run_depend>
<run_depend>pluginlib</run_depend>
<run_depend>tf_conversions</run_depend>
+ <run_depend>boost</run_depend>
-
- <!-- The export tag contains other, unspecified, tags -->
<export>
<moveit_core plugin="${prefix}/ur_moveit_plugins.xml"/>
</export>
diff --git a/ur_msgs/CMakeLists.txt b/ur_msgs/CMakeLists.txt
index 2c7b008f4bc4a2dafa7bac35b4bb0a77c2a85211..20c5fef587a121af6f3dc04417662bbad5847b6a 100644
--- a/ur_msgs/CMakeLists.txt
+++ b/ur_msgs/CMakeLists.txt
@@ -13,11 +13,14 @@ find_package(catkin REQUIRED COMPONENTS message_generation std_msgs)
Analog.msg
Digital.msg
IOStates.msg
+ RobotStateRTMsg.msg
+ MasterboardDataMsg.msg
)
## Generate services in the 'srv' folder
add_service_files(
FILES
+ SetPayload.srv
SetIO.srv
)
@@ -34,7 +37,7 @@ find_package(catkin REQUIRED COMPONENTS message_generation std_msgs)
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES ur_msgs
-# CATKIN_DEPENDS other_catkin_pkg
+ CATKIN_DEPENDS message_runtime std_msgs
# DEPENDS system_lib
)
diff --git a/ur_msgs/msg/MasterboardDataMsg.msg b/ur_msgs/msg/MasterboardDataMsg.msg
new file mode 100644
index 0000000000000000000000000000000000000000..8ccdd6202e4dcd42c51d5efd5e45823961062736
--- /dev/null
+++ b/ur_msgs/msg/MasterboardDataMsg.msg
@@ -0,0 +1,27 @@
+# This data structure contains the MasterboardData structure
+# used by the Universal Robots controller
+#
+# MasterboardData is part of the data structure being send on the
+# secondary client communications interface
+#
+# This data structure is send at 10 Hz on TCP port 30002
+#
+# Dokumentation can be found on the Universal Robots Support Wiki
+# (http://wiki03.lynero.net/Technical/DataStreamFromURController?rev=8)
+
+int16 digital_input_bits
+int16 digital_output_bits
+int8 analog_input_range0
+int8 analog_input_range1
+float64 analog_input0
+float64 analog_input1
+int8 analog_output_domain0
+int8 analog_output_domain1
+float64 analog_output0
+float64 analog_output1
+float32 masterboard_temperature
+float32 robot_voltage_48V
+float32 robot_current
+float32 master_io_current
+uint8 master_safety_state
+uint8 master_onoff_state
diff --git a/ur_msgs/msg/RobotStateRTMsg.msg b/ur_msgs/msg/RobotStateRTMsg.msg
new file mode 100644
index 0000000000000000000000000000000000000000..2741463973e0c1ed1d052f885e274fb912efc860
--- /dev/null
+++ b/ur_msgs/msg/RobotStateRTMsg.msg
@@ -0,0 +1,27 @@
+# Data structure for the realtime communications interface (aka Matlab interface)
+# used by the Universal Robots controller
+#
+# This data structure is send at 125 Hz on TCP port 30003
+#
+# Dokumentation can be found on the Universal Robots Support Wiki
+# (http://wiki03.lynero.net/Technical/RealTimeClientInterface?rev=9)
+
+float64 time
+float64[] q_target
+float64[] qd_target
+float64[] qdd_target
+float64[] i_target
+float64[] m_target
+float64[] q_actual
+float64[] qd_actual
+float64[] i_actual
+float64[] tool_acc_values
+float64[] tcp_force
+float64[] tool_vector
+float64[] tcp_speed
+float64 digital_input_bits
+float64[] motor_temperatures
+float64 controller_timer
+float64 test_value
+float64 robot_mode
+float64[] joint_modes
diff --git a/ur_msgs/srv/SetPayload.srv b/ur_msgs/srv/SetPayload.srv
new file mode 100644
index 0000000000000000000000000000000000000000..d68eb5c86d4c251e1a94ad8ae3ab329b19070cbe
--- /dev/null
+++ b/ur_msgs/srv/SetPayload.srv
@@ -0,0 +1,3 @@
+float32 payload
+-----------------------
+bool success